@ -1,5 +1,5 @@
/*
/*
FreeRTOS V7 .6 .0 - Copyright ( C ) 2013 Real Time Engineers Ltd .
FreeRTOS V7 .6 .0 - Copyright ( C ) 2013 Real Time Engineers Ltd .
All rights reserved
All rights reserved
VISIT http : //www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
VISIT http : //www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
@ -71,7 +71,7 @@
* User mode and Privileged mode , and using both the original xTaskCreate ( ) and
* User mode and Privileged mode , and using both the original xTaskCreate ( ) and
* the new xTaskCreateRestricted ( ) API functions . The purpose of each created
* the new xTaskCreateRestricted ( ) API functions . The purpose of each created
* task is documented in the comments above the task function prototype ( in
* task is documented in the comments above the task function prototype ( in
* this file ) , with the task behaviour demonstrated and documented within the
* this file ) , with the task behaviour demonstrated and documented within the
* task function itself . In addition a queue is used to demonstrate passing
* task function itself . In addition a queue is used to demonstrate passing
* data between protected / restricted tasks as well as passing data between an
* data between protected / restricted tasks as well as passing data between an
* interrupt and a protected / restricted task .
* interrupt and a protected / restricted task .
@ -117,7 +117,7 @@ achieved. */
/* Prototypes for functions that implement tasks. -----------*/ /* Prototypes for functions that implement tasks. -----------*/
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/*
/*
* Prototype for the reg test tasks . Amongst other things , these fill the CPU
* Prototype for the reg test tasks . Amongst other things , these fill the CPU
* registers with known values before checking that the registers still contain
* registers with known values before checking that the registers still contain
* the expected values . Each of the two tasks use different values so an error
* the expected values . Each of the two tasks use different values so an error
@ -147,15 +147,15 @@ static void prvRegTest2Task( void *pvParameters );
static void prvCheckTask ( void * pvParameters ) ; static void prvCheckTask ( void * pvParameters ) ;
/*
/*
* Prototype for a task created in User mode using the original vTaskCreate ( )
* Prototype for a task created in User mode using the original vTaskCreate ( )
* API function . The task demonstrates the characteristics of such a task ,
* API function . The task demonstrates the characteristics of such a task ,
* before simply deleting itself .
* before simply deleting itself .
*/
*/
static void prvOldStyleUserModeTask ( void * pvParameters ) ; static void prvOldStyleUserModeTask ( void * pvParameters ) ;
/*
/*
* Prototype for a task created in Privileged mode using the original
* Prototype for a task created in Privileged mode using the original
* vTaskCreate ( ) API function . The task demonstrates the characteristics of
* vTaskCreate ( ) API function . The task demonstrates the characteristics of
* such a task , before simply deleting itself .
* such a task , before simply deleting itself .
*/
*/
static void prvOldStylePrivilegedModeTask ( void * pvParameters ) ; static void prvOldStylePrivilegedModeTask ( void * pvParameters ) ;
@ -200,7 +200,7 @@ static void prvTestMemoryRegions( void );
/* The handle of the queue used to communicate between tasks and between tasks
/* The handle of the queue used to communicate between tasks and between tasks
and interrupts . Note that this is a file scope variable that falls outside of and interrupts . Note that this is a file scope variable that falls outside of
any MPU region . As such other techniques have to be used to allow the tasks any MPU region . As such other techniques have to be used to allow the tasks
to gain access to the queue . See the comments in the tasks themselves for to gain access to the queue . See the comments in the tasks themselves for
further information . */ further information . */
static xQueueHandle xFileScopeCheckQueue = NULL ; static xQueueHandle xFileScopeCheckQueue = NULL ;
@ -216,8 +216,8 @@ stack size is defined in words, not bytes. */
# define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) ) # define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
/* Declare the stack that will be used by the check task. The kernel will
/* Declare the stack that will be used by the check task. The kernel will
automatically create an MPU region for the stack . The stack alignment must
automatically create an MPU region for the stack . The stack alignment must
match its size , so if 128 words are reserved for the stack then it must be
match its size , so if 128 words are reserved for the stack then it must be
aligned to ( 128 * 4 ) bytes . */
aligned to ( 128 * 4 ) bytes . */
static portSTACK_TYPE xCheckTaskStack [ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO ( mainCHECK_TASK_STACK_ALIGNMENT ) ; static portSTACK_TYPE xCheckTaskStack [ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO ( mainCHECK_TASK_STACK_ALIGNMENT ) ;
@ -226,9 +226,9 @@ using the xTaskParameters structure below. THIS IS JUST TO DEMONSTRATE THE
MPU FUNCTIONALITY , the data is not used by the check tasks primary function MPU FUNCTIONALITY , the data is not used by the check tasks primary function
of monitoring the reg test tasks and printing out status information . of monitoring the reg test tasks and printing out status information .
Note that the arrays allocate slightly more RAM than is actually assigned to Note that the arrays allocate slightly more RAM than is actually assigned to
the MPU region . This is to permit writes off the end of the array to be the MPU region . This is to permit writes off the end of the array to be
detected even when the arrays are placed in adjacent memory locations ( with no detected even when the arrays are placed in adjacent memory locations ( with no
gaps between them ) . The align size must be a power of two . */ gaps between them ) . The align size must be a power of two . */
# define mainREAD_WRITE_ARRAY_SIZE 130 # define mainREAD_WRITE_ARRAY_SIZE 130
# define mainREAD_WRITE_ALIGN_SIZE 128 # define mainREAD_WRITE_ALIGN_SIZE 128
@ -247,7 +247,7 @@ structure passed to the xTaskCreateRestricted() function. */
static const xTaskParameters xCheckTaskParameters = static const xTaskParameters xCheckTaskParameters =
{ {
prvCheckTask , /* pvTaskCode - the function that implements the task. */
prvCheckTask , /* pvTaskCode - the function that implements the task. */
( signed char * ) " Check " , /* pcName */
" Check " , /* pcName */
mainCHECK_TASK_STACK_SIZE_WORDS , /* usStackDepth - defined in words, not bytes. */
mainCHECK_TASK_STACK_SIZE_WORDS , /* usStackDepth - defined in words, not bytes. */
( void * ) 0x12121212 , /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
( void * ) 0x12121212 , /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
( 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. */
( 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. */
@ -258,7 +258,7 @@ static const xTaskParameters xCheckTaskParameters =
created with different parameters . Again , THIS IS JUST TO DEMONSTRATE THE
created with different parameters . Again , THIS IS JUST TO DEMONSTRATE THE
MPU FUNCTIONALITY , the data is not used by the check tasks primary function
MPU FUNCTIONALITY , the data is not used by the check tasks primary function
of monitoring the reg test tasks and printing out status information . */
of monitoring the reg test tasks and printing out status information . */
{
{
/* Base address Length Parameters */
/* Base address Length Parameters */
{ cReadWriteArray , mainREAD_WRITE_ALIGN_SIZE , portMPU_REGION_READ_WRITE } ,
{ cReadWriteArray , mainREAD_WRITE_ALIGN_SIZE , portMPU_REGION_READ_WRITE } ,
{ cReadOnlyArray , mainREAD_ONLY_ALIGN_SIZE , portMPU_REGION_READ_ONLY } ,
{ cReadOnlyArray , mainREAD_ONLY_ALIGN_SIZE , portMPU_REGION_READ_ONLY } ,
@ -266,15 +266,15 @@ static const xTaskParameters xCheckTaskParameters =
}
}
} ; } ;
/* Three MPU regions are defined for use by the 'check' task when the task is
/* Three MPU regions are defined for use by the 'check' task when the task is
created . These are only used to demonstrate the MPU features and are not created . These are only used to demonstrate the MPU features and are not
actually necessary for the check task to fulfill its primary purpose . Instead actually necessary for the check task to fulfill its primary purpose . Instead
the MPU regions are replaced with those defined by xAltRegions prior to the the MPU regions are replaced with those defined by xAltRegions prior to the
check task receiving any data on the queue or printing any messages to the check task receiving any data on the queue or printing any messages to the
debug console . The MPU region defined below covers the GPIO peripherals used debug console . The MPU region defined below covers the GPIO peripherals used
to write to the LCD . */ to write to the LCD . */
static const xMemoryRegion xAltRegions [ portNUM_CONFIGURABLE_REGIONS ] = static const xMemoryRegion xAltRegions [ portNUM_CONFIGURABLE_REGIONS ] =
{ {
/* Base address Length Parameters */
/* Base address Length Parameters */
{ mainGPIO_START_ADDRESS , ( 64 * 1024 ) , portMPU_REGION_READ_WRITE } ,
{ mainGPIO_START_ADDRESS , ( 64 * 1024 ) , portMPU_REGION_READ_WRITE } ,
{ 0 , 0 , 0 } ,
{ 0 , 0 , 0 } ,
@ -293,8 +293,8 @@ that stack size is defined in words, not bytes. */
# define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) ) # define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
/* Declare the stacks that will be used by the reg test tasks. The kernel will
/* Declare the stacks that will be used by the reg test tasks. The kernel will
automatically create an MPU region for the stack . The stack alignment must automatically create an MPU region for the stack . The stack alignment must
match its size , so if 128 words are reserved for the stack then it must be match its size , so if 128 words are reserved for the stack then it must be
aligned to ( 128 * 4 ) bytes . */ aligned to ( 128 * 4 ) bytes . */
static portSTACK_TYPE xRegTest1Stack [ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO ( mainREG_TEST_STACK_ALIGNMENT ) ; static portSTACK_TYPE xRegTest1Stack [ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO ( mainREG_TEST_STACK_ALIGNMENT ) ;
static portSTACK_TYPE xRegTest2Stack [ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO ( mainREG_TEST_STACK_ALIGNMENT ) ; static portSTACK_TYPE xRegTest2Stack [ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO ( mainREG_TEST_STACK_ALIGNMENT ) ;
@ -303,7 +303,7 @@ static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_
static const xTaskParameters xRegTest1Parameters = static const xTaskParameters xRegTest1Parameters =
{ {
prvRegTest1Task , /* pvTaskCode - the function that implements the task. */
prvRegTest1Task , /* pvTaskCode - the function that implements the task. */
( signed char * ) " RegTest1 " , /* pcName */
" RegTest1 " , /* pcName */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
( void * ) 0x12345678 , /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
( void * ) 0x12345678 , /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
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. */
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. */
@ -320,7 +320,7 @@ static const xTaskParameters xRegTest1Parameters =
static xTaskParameters xRegTest2Parameters = static xTaskParameters xRegTest2Parameters =
{ {
prvRegTest2Task , /* pvTaskCode - the function that implements the task. */
prvRegTest2Task , /* pvTaskCode - the function that implements the task. */
( signed char * ) " RegTest2 " , /* pcName */
" RegTest2 " , /* pcName */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
( void * ) NULL , /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
( void * ) NULL , /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
tskIDLE_PRIORITY , /* uxPriority */
tskIDLE_PRIORITY , /* uxPriority */
@ -357,7 +357,7 @@ int main( void )
/* Create the tasks that are created using the original xTaskCreate() API
/* Create the tasks that are created using the original xTaskCreate() API
function . */
function . */
xTaskCreate ( prvOldStyleUserModeTask , /* The function that implements the task. */
xTaskCreate ( prvOldStyleUserModeTask , /* The function that implements the task. */
( signed char * ) " Task1 " , /* Text name for the task. */
" Task1 " , /* Text name for the task. */
100 , /* Stack depth in words. */
100 , /* Stack depth in words. */
NULL , /* Task parameters. */
NULL , /* Task parameters. */
3 , /* Priority and mode (user in this case). */
3 , /* Priority and mode (user in this case). */
@ -365,7 +365,7 @@ int main( void )
) ;
) ;
xTaskCreate ( prvOldStylePrivilegedModeTask , /* The function that implements the task. */
xTaskCreate ( prvOldStylePrivilegedModeTask , /* The function that implements the task. */
( signed char * ) " Task2 " , /* Text name for the task. */
" Task2 " , /* Text name for the task. */
100 , /* Stack depth in words. */
100 , /* Stack depth in words. */
NULL , /* Task parameters. */
NULL , /* Task parameters. */
( 3 | portPRIVILEGE_BIT ) , /* Priority and mode. */
( 3 | portPRIVILEGE_BIT ) , /* Priority and mode. */
@ -397,7 +397,7 @@ unsigned char x = 5, y = 10;
/* Just to remove compiler warning. */
/* Just to remove compiler warning. */
( void ) pvParameters ;
( void ) pvParameters ;
/* Demonstrate how the various memory regions can and can't be accessed.
/* Demonstrate how the various memory regions can and can't be accessed.
The task privilege is set down to user mode within this function . */
The task privilege is set down to user mode within this function . */
prvTestMemoryRegions ( ) ;
prvTestMemoryRegions ( ) ;
@ -411,26 +411,26 @@ unsigned char x = 5, y = 10;
{
{
/* Wait for the next message to arrive. */
/* Wait for the next message to arrive. */
xQueueReceive ( xQueue , & lMessage , portMAX_DELAY ) ;
xQueueReceive ( xQueue , & lMessage , portMAX_DELAY ) ;
switch ( lMessage )
switch ( lMessage )
{
{
case mainREG_TEST_1_STILL_EXECUTING :
case mainREG_TEST_1_STILL_EXECUTING :
/* Message from task 1, so task 1 must still be executing. */
/* Message from task 1, so task 1 must still be executing. */
( ulStillAliveCounts [ 0 ] ) + + ;
( ulStillAliveCounts [ 0 ] ) + + ;
break ;
break ;
case mainREG_TEST_2_STILL_EXECUTING :
case mainREG_TEST_2_STILL_EXECUTING :
/* Message from task 2, so task 2 must still be executing. */
/* Message from task 2, so task 2 must still be executing. */
( ulStillAliveCounts [ 1 ] ) + + ;
( ulStillAliveCounts [ 1 ] ) + + ;
break ;
break ;
case mainPRINT_SYSTEM_STATUS :
case mainPRINT_SYSTEM_STATUS :
/* Message from tick hook, time to print out the system
/* Message from tick hook, time to print out the system
status . If messages has stopped arriving from either reg
status . If messages has stopped arriving from either reg
test task then the status must be set to fail . */
test task then the status must be set to fail . */
if ( ( ulStillAliveCounts [ 0 ] = = 0 ) | | ( ulStillAliveCounts [ 1 ] = = 0 ) )
if ( ( ulStillAliveCounts [ 0 ] = = 0 ) | | ( ulStillAliveCounts [ 1 ] = = 0 ) )
{
{
/* One or both of the test tasks are no longer sending
/* One or both of the test tasks are no longer sending
' still alive ' messages . */
' still alive ' messages . */
pcStatusMessage = " FAIL \r \n " ;
pcStatusMessage = " FAIL \r \n " ;
}
}
@ -438,7 +438,7 @@ unsigned char x = 5, y = 10;
/* Print a pass/fail message to the LCD - moving the
/* Print a pass/fail message to the LCD - moving the
message each time to provide feedback that the output
message each time to provide feedback that the output
is still being produced . LCD_PrintString ( ) accesses const
is still being produced . LCD_PrintString ( ) accesses const
data stored in flash , which all tasks are at liberty to do ,
data stored in flash , which all tasks are at liberty to do ,
and GPIO for which an MPU region has been set up for it . */
and GPIO for which an MPU region has been set up for it . */
LCD_ClearScreen ( ) ;
LCD_ClearScreen ( ) ;
LCD_PrintString ( x > > 1 , y > > 1 , pcStatusMessage , 6 , COLOR_RED ) ;
LCD_PrintString ( x > > 1 , y > > 1 , pcStatusMessage , 6 , COLOR_RED ) ;
@ -450,7 +450,7 @@ unsigned char x = 5, y = 10;
break ;
break ;
default :
default :
/* Something unexpected happened. Delete this task so the
/* Something unexpected happened. Delete this task so the
error is apparent ( no output will be displayed ) . */
error is apparent ( no output will be displayed ) . */
prvDeleteMe ( ) ;
prvDeleteMe ( ) ;
break ;
break ;
@ -464,8 +464,8 @@ static void prvTestMemoryRegions( void )
long l ; long l ;
char cTemp ; char cTemp ;
/* The check task (from which this function is called) is created in the
/* The check task (from which this function is called) is created in the
Privileged mode . The privileged array can be both read from and written
Privileged mode . The privileged array can be both read from and written
to while this task is privileged . */
to while this task is privileged . */
cPrivilegedOnlyAccessArray [ 0 ] = ' a ' ;
cPrivilegedOnlyAccessArray [ 0 ] = ' a ' ;
if ( cPrivilegedOnlyAccessArray [ 0 ] ! = ' a ' )
if ( cPrivilegedOnlyAccessArray [ 0 ] ! = ' a ' )
@ -476,15 +476,15 @@ char cTemp;
}
}
/* Writing off the end of the RAM allocated to this task will *NOT* cause a
/* Writing off the end of the RAM allocated to this task will *NOT* cause a
protection fault because the task is still executing in a privileged mode .
protection fault because the task is still executing in a privileged mode .
Uncomment the following to test . */
Uncomment the following to test . */
/* cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a'; */
/* cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a'; */
/* Now set the task into user mode. */
/* Now set the task into user mode. */
portSWITCH_TO_USER_MODE ( ) ;
portSWITCH_TO_USER_MODE ( ) ;
/* Accessing the privileged only array will now cause a fault. Uncomment
/* Accessing the privileged only array will now cause a fault. Uncomment
the following line to test . */
the following line to test . */
/* cPrivilegedOnlyAccessArray[ 0 ] = 'a'; */
/* cPrivilegedOnlyAccessArray[ 0 ] = 'a'; */
/* The read/write array can still be successfully read and written. */
/* The read/write array can still be successfully read and written. */
@ -500,7 +500,7 @@ char cTemp;
}
}
/* But attempting to read or write off the end of the RAM allocated to this
/* But attempting to read or write off the end of the RAM allocated to this
task will cause a fault . Uncomment either of the following two lines to
task will cause a fault . Uncomment either of the following two lines to
test . */
test . */
/* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
/* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
/* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
/* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
@ -514,14 +514,14 @@ char cTemp;
/* ...but cannot be written. Uncomment the following line to test. */
/* ...but cannot be written. Uncomment the following line to test. */
/* cReadOnlyArray[ 0 ] = 'a'; */
/* cReadOnlyArray[ 0 ] = 'a'; */
/* Writing to the first and last locations in the stack array should not
/* Writing to the first and last locations in the stack array should not
cause a protection fault . Note that doing this will cause the kernel to
cause a protection fault . Note that doing this will cause the kernel to
detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
1. */
1. */
xCheckTaskStack [ 0 ] = 0 ;
xCheckTaskStack [ 0 ] = 0 ;
xCheckTaskStack [ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0 ;
xCheckTaskStack [ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0 ;
/* Writing off either end of the stack array should cause a protection
/* Writing off either end of the stack array should cause a protection
fault , uncomment either of the following two lines to test . */
fault , uncomment either of the following two lines to test . */
/* xCheckTaskStack[ -1 ] = 0; */
/* xCheckTaskStack[ -1 ] = 0; */
/* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
/* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
@ -536,7 +536,7 @@ mode. Once this task is in user mode the file scope queue variable will no
longer be accessible but the stack copy will . */ longer be accessible but the stack copy will . */
xQueueHandle xQueue = xFileScopeCheckQueue ; xQueueHandle xQueue = xFileScopeCheckQueue ;
/* Now the queue handle has been obtained the task can switch to user
/* Now the queue handle has been obtained the task can switch to user
mode . This is just one method of passing a handle into a protected
mode . This is just one method of passing a handle into a protected
task , the other reg test task uses the task parameter instead . */
task , the other reg test task uses the task parameter instead . */
portSWITCH_TO_USER_MODE ( ) ;
portSWITCH_TO_USER_MODE ( ) ;
@ -551,12 +551,12 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
for ( ; ; )
for ( ; ; )
{
{
/* This task tests the kernel context switch mechanism by reading and
/* This task tests the kernel context switch mechanism by reading and
writing directly to registers - which requires the test to be written
writing directly to registers - which requires the test to be written
in assembly code . */
in assembly code . */
__asm volatile
__asm volatile
(
(
" MOV R4, #104 \n " /* Set registers to a known value. R0 to R1 are done in the loop below. */
" MOV R4, #104 \n " /* Set registers to a known value. R0 to R1 are done in the loop below. */
" MOV R5, #105 \n "
" MOV R5, #105 \n "
" MOV R6, #106 \n "
" MOV R6, #106 \n "
@ -579,8 +579,8 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
" BNE prvDeleteMe \n "
" BNE prvDeleteMe \n "
" CMP R3, #103 \n "
" CMP R3, #103 \n "
" BNE prvDeleteMe \n "
" BNE prvDeleteMe \n "
" CMP R4, #104 \n "
" CMP R4, #104 \n "
" BNE prvDeleteMe \n "
" BNE prvDeleteMe \n "
" CMP R5, #105 \n "
" CMP R5, #105 \n "
" BNE prvDeleteMe \n "
" BNE prvDeleteMe \n "
" CMP R6, #106 \n "
" CMP R6, #106 \n "
@ -598,7 +598,7 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
: : : " r0 " , " r1 " , " r2 " , " r3 " , " r4 " , " r5 " , " r6 " , " r8 " , " r9 " , " r10 " , " r11 " , " r12 "
: : : " r0 " , " r1 " , " r2 " , " r3 " , " r4 " , " r5 " , " r6 " , " r8 " , " r9 " , " r10 " , " r11 " , " r12 "
) ;
) ;
/* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
/* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
task is still functioning . */
task is still functioning . */
prvSendImAlive ( xQueue , mainREG_TEST_1_STILL_EXECUTING ) ;
prvSendImAlive ( xQueue , mainREG_TEST_1_STILL_EXECUTING ) ;
@ -611,7 +611,7 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
static void prvRegTest2Task ( void * pvParameters ) static void prvRegTest2Task ( void * pvParameters )
{ {
/* The queue handle is passed in as the task parameter. This is one method of
/* The queue handle is passed in as the task parameter. This is one method of
passing data into a protected task , the other reg test task uses a different passing data into a protected task , the other reg test task uses a different
method . */ method . */
xQueueHandle xQueue = ( xQueueHandle ) pvParameters ; xQueueHandle xQueue = ( xQueueHandle ) pvParameters ;
@ -620,15 +620,15 @@ xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
/* This task tests the kernel context switch mechanism by reading and
/* This task tests the kernel context switch mechanism by reading and
writing directly to registers - which requires the test to be written
writing directly to registers - which requires the test to be written
in assembly code . */
in assembly code . */
__asm volatile
__asm volatile
(
(
" MOV R4, #4 \n " /* Set registers to a known value. R0 to R1 are done in the loop below. */
" MOV R4, #4 \n " /* Set registers to a known value. R0 to R1 are done in the loop below. */
" MOV R5, #5 \n "
" MOV R5, #5 \n "
" MOV R6, #6 \n "
" MOV R6, #6 \n "
" MOV R8, #8 \n " /* Frame pointer is omitted as it must not be changed. */
" MOV R8, #8 \n " /* Frame pointer is omitted as it must not be changed. */
" MOV R9, #9 \n "
" MOV R9, #9 \n "
" MOV R10, 10 \n "
" MOV R10, 10 \n "
" MOV R11, #11 \n "
" MOV R11, #11 \n "
" reg2loop: \n "
" reg2loop: \n "
" MOV R0, #13 \n " /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
" MOV R0, #13 \n " /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
" MOV R1, #1 \n "
" MOV R1, #1 \n "
@ -662,7 +662,7 @@ xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
: : : " r0 " , " r1 " , " r2 " , " r3 " , " r4 " , " r5 " , " r6 " , " r8 " , " r9 " , " r10 " , " r11 " , " r12 "
: : : " r0 " , " r1 " , " r2 " , " r3 " , " r4 " , " r5 " , " r6 " , " r8 " , " r9 " , " r10 " , " r11 " , " r12 "
) ;
) ;
/* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
/* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
task is still functioning . */
task is still functioning . */
prvSendImAlive ( xQueue , mainREG_TEST_2_STILL_EXECUTING ) ;
prvSendImAlive ( xQueue , mainREG_TEST_2_STILL_EXECUTING ) ;
@ -684,8 +684,8 @@ volatile unsigned long ulReadData;
/* The idle task, and therefore this function, run in Supervisor mode and
/* The idle task, and therefore this function, run in Supervisor mode and
can therefore access all memory . Try reading from corners of flash and
can therefore access all memory . Try reading from corners of flash and
RAM to ensure a memory fault does not occur .
RAM to ensure a memory fault does not occur .
Start with the edges of the privileged data area . */
Start with the edges of the privileged data area . */
pul = __privileged_data_start__ ;
pul = __privileged_data_start__ ;
ulReadData = * pul ;
ulReadData = * pul ;
@ -703,9 +703,9 @@ volatile unsigned long ulReadData;
pul = __FLASH_segment_end__ - 1 ;
pul = __FLASH_segment_end__ - 1 ;
ulReadData = * pul ;
ulReadData = * pul ;
/* Reading off the end of Flash or SRAM space should cause a fault.
/* Reading off the end of Flash or SRAM space should cause a fault.
Uncomment one of the following two pairs of lines to test . */
Uncomment one of the following two pairs of lines to test . */
/* pul = __FLASH_segment_end__ + 4;
/* pul = __FLASH_segment_end__ + 4;
ulReadData = * pul ; */
ulReadData = * pul ; */
@ -726,7 +726,7 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
volatile unsigned long * pul ; volatile unsigned long * pul ;
volatile unsigned long ulReadData ; volatile unsigned long ulReadData ;
/* The following lines are commented out to prevent the unused variable
/* The following lines are commented out to prevent the unused variable
compiler warnings when the tests that use the variable are also commented out . compiler warnings when the tests that use the variable are also commented out .
extern unsigned long __privileged_functions_start__ [ ] ; extern unsigned long __privileged_functions_start__ [ ] ;
const volatile unsigned long * pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014 ; */ const volatile unsigned long * pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014 ; */
@ -766,17 +766,17 @@ const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned
/* pul = __privileged_functions_start__;
/* pul = __privileged_functions_start__;
ulReadData = * pul ; */
ulReadData = * pul ; */
/* pul = __privileged_functions_end__ - 1;
/* pul = __privileged_functions_end__ - 1;
ulReadData = * pul ; */
ulReadData = * pul ; */
/* pul = __privileged_data_start__;
/* pul = __privileged_data_start__;
ulReadData = * pul ; */
ulReadData = * pul ; */
/* pul = __privileged_data_end__ - 1;
/* pul = __privileged_data_end__ - 1;
ulReadData = * pul ; */
ulReadData = * pul ; */
/* Must not just run off the end of a task function, so delete this task.
/* Must not just run off the end of a task function, so delete this task.
Note that because this task was created using xTaskCreate ( ) the stack was
Note that because this task was created using xTaskCreate ( ) the stack was
allocated dynamically and I have not included any code to free it again . */
allocated dynamically and I have not included any code to free it again . */
vTaskDelete ( NULL ) ;
vTaskDelete ( NULL ) ;
@ -799,10 +799,10 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
( void ) pvParameters ;
( void ) pvParameters ;
/* This task is created in Privileged mode using the original xTaskCreate()
/* This task is created in Privileged mode using the original xTaskCreate()
API function . It should have access to all Flash and RAM including that
API function . It should have access to all Flash and RAM including that
marked as Privileged access only . So reading from the start and end of the
marked as Privileged access only . So reading from the start and end of the
non - privileged RAM should not cause a problem ( the privileged RAM is the
non - privileged RAM should not cause a problem ( the privileged RAM is the
first block at the bottom of the RAM memory ) . */
first block at the bottom of the RAM memory ) . */
pul = __privileged_data_end__ + 1 ;
pul = __privileged_data_end__ + 1 ;
ulReadData = * pul ;
ulReadData = * pul ;
@ -824,7 +824,7 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
pul = __privileged_functions_end__ - 1 ;
pul = __privileged_functions_end__ - 1 ;
ulReadData = * pul ;
ulReadData = * pul ;
pul = __privileged_data_start__ ;
pul = __privileged_data_start__ ;
ulReadData = * pul ;
ulReadData = * pul ;
pul = __privileged_data_end__ - 1 ;
pul = __privileged_data_end__ - 1 ;
ulReadData = * pul ;
ulReadData = * pul ;
@ -833,7 +833,7 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
ulReadData = * pulSystemPeripheralRegister ;
ulReadData = * pulSystemPeripheralRegister ;
ulReadData = * pulStandardPeripheralRegister ;
ulReadData = * pulStandardPeripheralRegister ;
/* Must not just run off the end of a task function, so delete this task.
/* Must not just run off the end of a task function, so delete this task.
Note that because this task was created using xTaskCreate ( ) the stack was
Note that because this task was created using xTaskCreate ( ) the stack was
allocated dynamically and I have not included any code to free it again . */
allocated dynamically and I have not included any code to free it again . */
vTaskDelete ( NULL ) ;
vTaskDelete ( NULL ) ;
@ -869,84 +869,84 @@ void prvSetupHardware( void )
if ( SC - > PLL0STAT & ( 1 < < 25 ) )
if ( SC - > PLL0STAT & ( 1 < < 25 ) )
{
{
/* Enable PLL, disconnected. */
/* Enable PLL, disconnected. */
SC - > PLL0CON = 1 ;
SC - > PLL0CON = 1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
}
}
/* Disable PLL, disconnected. */
/* Disable PLL, disconnected. */
SC - > PLL0CON = 0 ;
SC - > PLL0CON = 0 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
/* Enable main OSC. */
/* Enable main OSC. */
SC - > SCS | = 0x20 ;
SC - > SCS | = 0x20 ;
while ( ! ( SC - > SCS & 0x40 ) ) ;
while ( ! ( SC - > SCS & 0x40 ) ) ;
/* select main OSC, 12MHz, as the PLL clock source. */
/* select main OSC, 12MHz, as the PLL clock source. */
SC - > CLKSRCSEL = 0x1 ;
SC - > CLKSRCSEL = 0x1 ;
SC - > PLL0CFG = 0x20031 ;
SC - > PLL0CFG = 0x20031 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
/* Enable PLL, disconnected. */
/* Enable PLL, disconnected. */
SC - > PLL0CON = 1 ;
SC - > PLL0CON = 1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
/* Set clock divider. */
/* Set clock divider. */
SC - > CCLKCFG = 0x03 ;
SC - > CCLKCFG = 0x03 ;
/* Configure flash accelerator. */
/* Configure flash accelerator. */
SC - > FLASHCFG = 0x403a ;
SC - > FLASHCFG = 0x403a ;
/* Check lock bit status. */
/* Check lock bit status. */
while ( ( ( SC - > PLL0STAT & ( 1 < < 26 ) ) = = 0 ) ) ;
while ( ( ( SC - > PLL0STAT & ( 1 < < 26 ) ) = = 0 ) ) ;
/* Enable and connect. */
/* Enable and connect. */
SC - > PLL0CON = 3 ;
SC - > PLL0CON = 3 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED1 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
SC - > PLL0FEED = PLLFEED_FEED2 ;
while ( ( ( SC - > PLL0STAT & ( 1 < < 25 ) ) = = 0 ) ) ;
while ( ( ( SC - > PLL0STAT & ( 1 < < 25 ) ) = = 0 ) ) ;
/* Configure the clock for the USB. */
/* Configure the clock for the USB. */
if ( SC - > PLL1STAT & ( 1 < < 9 ) )
if ( SC - > PLL1STAT & ( 1 < < 9 ) )
{
{
/* Enable PLL, disconnected. */
/* Enable PLL, disconnected. */
SC - > PLL1CON = 1 ;
SC - > PLL1CON = 1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
}
}
/* Disable PLL, disconnected. */
/* Disable PLL, disconnected. */
SC - > PLL1CON = 0 ;
SC - > PLL1CON = 0 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
SC - > PLL1CFG = 0x23 ;
SC - > PLL1CFG = 0x23 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
/* Enable PLL, disconnected. */
/* Enable PLL, disconnected. */
SC - > PLL1CON = 1 ;
SC - > PLL1CON = 1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
while ( ( ( SC - > PLL1STAT & ( 1 < < 10 ) ) = = 0 ) ) ;
while ( ( ( SC - > PLL1STAT & ( 1 < < 10 ) ) = = 0 ) ) ;
/* Enable and connect. */
/* Enable and connect. */
SC - > PLL1CON = 3 ;
SC - > PLL1CON = 3 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED1 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
SC - > PLL1FEED = PLLFEED_FEED2 ;
while ( ( ( SC - > PLL1STAT & ( 1 < < 9 ) ) = = 0 ) ) ;
while ( ( ( SC - > PLL1STAT & ( 1 < < 9 ) ) = = 0 ) ) ;
/* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
/* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
SC - > PCLKSEL0 = 0x05555555 ;
SC - > PCLKSEL0 = 0x05555555 ;
/* Prepare the LCD. */
/* Prepare the LCD. */
LCDdriver_initialisation ( ) ;
LCDdriver_initialisation ( ) ;
LCD_PrintString ( 5 , 10 , " FreeRTOS.org " , 14 , COLOR_GREEN ) ;
LCD_PrintString ( 5 , 10 , " FreeRTOS.org " , 14 , COLOR_GREEN ) ;
@ -972,8 +972,8 @@ portBASE_TYPE xDummy;
ulCallCount = 0 ;
ulCallCount = 0 ;
/* Send a message to the check task to command it to check that all
/* Send a message to the check task to command it to check that all
the tasks are still running then print out the status .
the tasks are still running then print out the status .
This is running in an ISR so has to use the " FromISR " version of
This is running in an ISR so has to use the " FromISR " version of
xQueueSend ( ) . Because it is in an ISR it is running with privileges
xQueueSend ( ) . Because it is in an ISR it is running with privileges
so can access xFileScopeCheckQueue directly . */
so can access xFileScopeCheckQueue directly . */
@ -984,7 +984,7 @@ portBASE_TYPE xDummy;
void vApplicationStackOverflowHook ( xTaskHandle pxTask , signed char * pcTaskName ) void vApplicationStackOverflowHook ( xTaskHandle pxTask , signed char * pcTaskName )
{ {
/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
function will automatically get called if a task overflows its stack . */
function will automatically get called if a task overflows its stack . */
( void ) pxTask ;
( void ) pxTask ;
( void ) pcTaskName ;
( void ) pcTaskName ;
Richard Barry
11 years ago