You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
976 lines
39 KiB
C
976 lines
39 KiB
C
/*
|
|
FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
|
|
|
***************************************************************************
|
|
* *
|
|
* If you are: *
|
|
* *
|
|
* + New to FreeRTOS, *
|
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
|
* + Looking for basic training, *
|
|
* + Wanting to improve your FreeRTOS skills and productivity *
|
|
* *
|
|
* then take a look at the FreeRTOS books - available as PDF or paperback *
|
|
* *
|
|
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
|
|
* http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* A pdf reference manual is also available. Both are usually delivered *
|
|
* to your inbox within 20 minutes to two hours when purchased between 8am *
|
|
* and 8pm GMT (although please allow up to 24 hours in case of *
|
|
* exceptional circumstances). Thank you for your support! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
|
***NOTE*** The exception to the GPL is included to allow you to distribute
|
|
a combined work that includes FreeRTOS without being obliged to provide the
|
|
source code for proprietary components outside of the FreeRTOS kernel.
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
|
more details. You should have received a copy of the GNU General Public
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
|
by writing to Richard Barry, contact details for whom are available on the
|
|
FreeRTOS WEB site.
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
|
|
/*
|
|
* This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
|
|
* User mode and Privileged mode, and using both the original xTaskCreate() and
|
|
* the new xTaskCreateRestricted() API functions. The purpose of each created
|
|
* task is documented in the comments above the task function prototype (in
|
|
* this file), with the task behaviour demonstrated and documented within the
|
|
* task function itself. In addition a queue is used to demonstrate passing
|
|
* data between protected/restricted tasks as well as passing data between an
|
|
* interrupt and a protected/restricted task.
|
|
*/
|
|
|
|
|
|
|
|
/* Standard includes. */
|
|
#include <string.h>
|
|
#include <__cross_studio_io.h>
|
|
|
|
/* Scheduler includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "queue.h"
|
|
#include "semphr.h"
|
|
|
|
/* Hardware library includes. */
|
|
#include "hw_types.h"
|
|
#include "hw_sysctl.h"
|
|
#include "sysctl.h"
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Misc constants. */
|
|
#define mainDONT_BLOCK ( 0 )
|
|
|
|
/* Definitions for the messages that can be sent to the check task. */
|
|
#define mainREG_TEST_1_STILL_EXECUTING ( 0 )
|
|
#define mainREG_TEST_2_STILL_EXECUTING ( 1 )
|
|
#define mainPRINT_SYSTEM_STATUS ( 2 )
|
|
|
|
/* GCC specifics. */
|
|
#define mainALIGN_TO( x ) __attribute__((aligned(x)))
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
/* Prototypes for functions that implement tasks. -----------*/
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Prototype for the reg test tasks. Amongst other things, these fill the CPU
|
|
* 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
|
|
* in the context switch mechanism can be caught. Both reg test tasks execute
|
|
* at the idle priority so will get preempted regularly. Each task repeatedly
|
|
* sends a message on a queue so long as it remains functioning correctly. If
|
|
* an error is detected within the task the task is simply deleted.
|
|
*/
|
|
static void prvRegTest1Task( void *pvParameters );
|
|
static void prvRegTest2Task( void *pvParameters );
|
|
|
|
/*
|
|
* Prototype for the check task. The check task demonstrates various features
|
|
* of the MPU before entering a loop where it waits for messages to arrive on a
|
|
* queue.
|
|
*
|
|
* Two types of messages can be processes:
|
|
*
|
|
* 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
|
|
* task is still operational.
|
|
*
|
|
* 2) "Print Status commands" sent periodically by the tick hook function (and
|
|
* therefore from within an interrupt) which command the check task to write
|
|
* either pass or fail to the terminal, depending on the status of the reg
|
|
* test tasks.
|
|
*/
|
|
static void prvCheckTask( void *pvParameters );
|
|
|
|
/*
|
|
* Prototype for a task created in User mode using the original vTaskCreate()
|
|
* API function. The task demonstrates the characteristics of such a task,
|
|
* before simply deleting itself.
|
|
*/
|
|
static void prvOldStyleUserModeTask( void *pvParameters );
|
|
|
|
/*
|
|
* Prototype for a task created in Privileged mode using the original
|
|
* vTaskCreate() API function. The task demonstrates the characteristics of
|
|
* such a task, before simply deleting itself.
|
|
*/
|
|
static void prvOldStylePrivilegedModeTask( void *pvParameters );
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
/* Prototypes for other misc functions. --------------------*/
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Just configures any clocks and IO necessary.
|
|
*/
|
|
static void prvSetupHardware( void );
|
|
|
|
/*
|
|
* Simply deletes the calling task. The function is provided only because it
|
|
* is simpler to call from asm code than the normal vTaskDelete() API function.
|
|
* It has the noinline attribute because it is called from asm code.
|
|
*/
|
|
static void prvDeleteMe( void ) __attribute__((noinline));
|
|
|
|
/*
|
|
* Used by both reg test tasks to send messages to the check task. The message
|
|
* just lets the check task know that the task is still functioning correctly.
|
|
* If a reg test task detects an error it will delete itself, and in so doing
|
|
* prevent itself from sending any more 'I'm Alive' messages to the check task.
|
|
*/
|
|
static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber );
|
|
|
|
/*
|
|
* The check task is created with access to three memory regions (plus its
|
|
* stack). Each memory region is configured with different parameters and
|
|
* prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
|
|
* region. prvTestMemoryRegions() also demonstrates a task that was created
|
|
* as a privileged task settings its own privilege level down to that of a user
|
|
* task.
|
|
*/
|
|
static void prvTestMemoryRegions( void );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* 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
|
|
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
|
|
further information. */
|
|
static xQueueHandle xFileScopeCheckQueue = NULL;
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
/* Data used by the 'check' task. ---------------------------*/
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Define the constants used to allocate the check task stack. Note that the
|
|
stack size is defined in words, not bytes. */
|
|
#define mainCHECK_TASK_STACK_SIZE_WORDS 128
|
|
#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
|
|
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
|
|
aligned to ( 128 * 4 ) bytes. */
|
|
static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
|
|
|
|
/* Declare three arrays - an MPU region will be created for each array
|
|
using the xTaskParameters structure below. THIS IS JUST TO DEMONSTRATE THE
|
|
MPU FUNCTIONALITY, the data is not used by the check tasks primary function
|
|
of monitoring the reg test tasks and printing out status information.
|
|
|
|
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
|
|
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. */
|
|
#define mainREAD_WRITE_ARRAY_SIZE 130
|
|
#define mainREAD_WRITE_ALIGN_SIZE 128
|
|
char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
|
|
|
|
#define mainREAD_ONLY_ARRAY_SIZE 260
|
|
#define mainREAD_ONLY_ALIGN_SIZE 256
|
|
char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
|
|
|
|
#define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
|
|
#define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
|
|
char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
|
|
|
|
/* Fill in a xTaskParameters structure to define the check task - this is the
|
|
structure passed to the xTaskCreateRestricted() function. */
|
|
static const xTaskParameters xCheckTaskParameters =
|
|
{
|
|
prvCheckTask, /* pvTaskCode - the function that implements the task. */
|
|
( signed char * ) "Check", /* pcName */
|
|
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. */
|
|
( 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. */
|
|
xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
|
|
|
/* xRegions - In this case the xRegions array is used to create MPU regions
|
|
for all three of the arrays declared directly above. Each MPU region is
|
|
created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
|
|
MPU FUNCTIONALITY, the data is not used by the check tasks primary function
|
|
of monitoring the reg test tasks and printing out status information.*/
|
|
{
|
|
/* Base address Length Parameters */
|
|
{ cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
|
|
{ cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
|
|
{ cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
|
|
}
|
|
};
|
|
|
|
/* 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
|
|
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
|
|
check task receiving any data on the queue or printing any messages to the
|
|
debug console. The region configured by xAltRegions just gives the check task
|
|
access to the debug variables that form part of the Rowley library, and are
|
|
accessed within the debug_printf() function. */
|
|
extern unsigned long dbgCntrlWord_mempoll;
|
|
static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
|
|
{
|
|
/* Base address Length Parameters */
|
|
{ ( void * ) &dbgCntrlWord_mempoll, 32, portMPU_REGION_READ_WRITE },
|
|
{ 0, 0, 0 },
|
|
{ 0, 0, 0 }
|
|
};
|
|
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
/* Data used by the 'reg test' tasks. -----------------------*/
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Define the constants used to allocate the reg test task stacks. Note that
|
|
that stack size is defined in words, not bytes. */
|
|
#define mainREG_TEST_STACK_SIZE_WORDS 128
|
|
#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
|
|
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
|
|
aligned to ( 128 * 4 ) bytes. */
|
|
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 );
|
|
|
|
/* Fill in a xTaskParameters structure per reg test task to define the tasks. */
|
|
static const xTaskParameters xRegTest1Parameters =
|
|
{
|
|
prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
|
|
( signed char * ) "RegTest1", /* pcName */
|
|
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. */
|
|
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. */
|
|
xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
|
{ /* xRegions - this task does not use any non-stack data hence all members are zero. */
|
|
/* Base address Length Parameters */
|
|
{ 0x00, 0x00, 0x00 },
|
|
{ 0x00, 0x00, 0x00 },
|
|
{ 0x00, 0x00, 0x00 }
|
|
}
|
|
};
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static xTaskParameters xRegTest2Parameters =
|
|
{
|
|
prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
|
|
( signed char * ) "RegTest2", /* pcName */
|
|
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. */
|
|
tskIDLE_PRIORITY, /* uxPriority */
|
|
xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
|
{ /* xRegions - this task does not use any non-stack data hence all members are zero. */
|
|
/* Base address Length Parameters */
|
|
{ 0x00, 0x00, 0x00 },
|
|
{ 0x00, 0x00, 0x00 },
|
|
{ 0x00, 0x00, 0x00 }
|
|
}
|
|
};
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
int main( void )
|
|
{
|
|
prvSetupHardware();
|
|
|
|
/* Create the queue used to pass "I'm alive" messages to the check task. */
|
|
xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
|
|
|
|
/* One check task uses the task parameter to receive the queue handle.
|
|
This allows the file scope variable to be accessed from within the task.
|
|
The pvParameters member of xRegTest2Parameters can only be set after the
|
|
queue has been created so is set here. */
|
|
xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
|
|
|
|
/* Create the three test tasks. Handles to the created tasks are not
|
|
required, hence the second parameter is NULL. */
|
|
xTaskCreateRestricted( &xRegTest1Parameters, NULL );
|
|
xTaskCreateRestricted( &xRegTest2Parameters, NULL );
|
|
xTaskCreateRestricted( &xCheckTaskParameters, NULL );
|
|
|
|
/* Create the tasks that are created using the original xTaskCreate() API
|
|
function. */
|
|
xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
|
|
( signed char * ) "Task1", /* Text name for the task. */
|
|
100, /* Stack depth in words. */
|
|
NULL, /* Task parameters. */
|
|
3, /* Priority and mode (user in this case). */
|
|
NULL /* Handle. */
|
|
);
|
|
|
|
xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
|
|
( signed char * ) "Task2", /* Text name for the task. */
|
|
100, /* Stack depth in words. */
|
|
NULL, /* Task parameters. */
|
|
( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
|
|
NULL /* Handle. */
|
|
);
|
|
|
|
/* Start the scheduler. */
|
|
vTaskStartScheduler();
|
|
|
|
/* Will only get here if there was insufficient memory to create the idle
|
|
task. */
|
|
for( ;; );
|
|
return 0;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvCheckTask( void *pvParameters )
|
|
{
|
|
/* This task is created in privileged mode so can access the file scope
|
|
queue variable. Take a stack copy of this before the task is set into user
|
|
mode. Once that task is in user mode the file scope queue variable will no
|
|
longer be accessible but the stack copy will. */
|
|
xQueueHandle xQueue = xFileScopeCheckQueue;
|
|
long lMessage;
|
|
unsigned long ulStillAliveCounts[ 2 ] = { 0 };
|
|
const char *pcStatusMessage = "PASS\r\n";
|
|
|
|
/* Just to remove compiler warning. */
|
|
( void ) pvParameters;
|
|
|
|
/* Print out the amount of free heap space so configTOTAL_HEAP_SIZE can be
|
|
tuned. The heap size is set to be very small in this example and will need
|
|
to be increased before many more tasks, queues or semaphores can be
|
|
created. */
|
|
debug_printf( "There are %d bytes of unused heap space.\r\n", xPortGetFreeHeapSize() );
|
|
|
|
/* Demonstrate how the various memory regions can and can't be accessed.
|
|
The task privilege level is set down to user mode within this function. */
|
|
prvTestMemoryRegions();
|
|
|
|
/* Change the memory regions allocated to this task to those initially
|
|
set up for demonstration purposes to those actually required by the task. */
|
|
vTaskAllocateMPURegions( NULL, xAltRegions );
|
|
|
|
/* This loop performs the main function of the task, which is blocking
|
|
on a message queue then processing each message as it arrives. */
|
|
for( ;; )
|
|
{
|
|
/* Wait for the next message to arrive. */
|
|
xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
|
|
|
|
switch( lMessage )
|
|
{
|
|
case mainREG_TEST_1_STILL_EXECUTING :
|
|
/* Message from task 1, so task 1 must still be executing. */
|
|
( ulStillAliveCounts[ 0 ] )++;
|
|
break;
|
|
|
|
case mainREG_TEST_2_STILL_EXECUTING :
|
|
/* Message from task 2, so task 2 must still be executing. */
|
|
( ulStillAliveCounts[ 1 ] )++;
|
|
break;
|
|
|
|
case mainPRINT_SYSTEM_STATUS :
|
|
/* Message from tick hook, time to print out the system
|
|
status. If messages has stopped arriving from either reg
|
|
test task then the status must be set to fail. */
|
|
if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
|
|
{
|
|
/* One or both of the test tasks are no longer sending
|
|
'still alive' messages. */
|
|
pcStatusMessage = "FAIL\r\n";
|
|
}
|
|
|
|
/* Print a pass/fail message to the terminal. This will be
|
|
visible in the CrossWorks IDE. */
|
|
debug_printf( pcStatusMessage );
|
|
|
|
/* Reset the count of 'still alive' messages. */
|
|
memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
|
|
break;
|
|
|
|
default :
|
|
/* Something unexpected happened. Delete this task so the
|
|
error is apparent (no output will be displayed). */
|
|
prvDeleteMe();
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvTestMemoryRegions( void )
|
|
{
|
|
long l;
|
|
char cTemp;
|
|
|
|
/* 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
|
|
to while this task is privileged. */
|
|
cPrivilegedOnlyAccessArray[ 0 ] = 'a';
|
|
if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
|
|
{
|
|
/* Something unexpected happened. Delete this task so the error is
|
|
apparent (no output will be displayed). */
|
|
prvDeleteMe();
|
|
}
|
|
|
|
/* 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.
|
|
Uncomment the following to test. */
|
|
/*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
|
|
|
|
/* Now set the task into user mode. */
|
|
portSWITCH_TO_USER_MODE();
|
|
|
|
/* Accessing the privileged only array will now cause a fault. Uncomment
|
|
the following line to test. */
|
|
/*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
|
|
|
|
/* The read/write array can still be successfully read and written. */
|
|
for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
|
|
{
|
|
cReadWriteArray[ l ] = 'a';
|
|
if( cReadWriteArray[ l ] != 'a' )
|
|
{
|
|
/* Something unexpected happened. Delete this task so the error is
|
|
apparent (no output will be displayed). */
|
|
prvDeleteMe();
|
|
}
|
|
}
|
|
|
|
/* 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
|
|
test. */
|
|
/* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
|
|
/* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
|
|
|
|
/* The read only array can be successfully read... */
|
|
for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
|
|
{
|
|
cTemp = cReadOnlyArray[ l ];
|
|
}
|
|
|
|
/* ...but cannot be written. Uncomment the following line to test. */
|
|
/* cReadOnlyArray[ 0 ] = 'a'; */
|
|
|
|
/* 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
|
|
detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
|
|
1. */
|
|
xCheckTaskStack[ 0 ] = 0;
|
|
xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
|
|
|
|
/* Writing off either end of the stack array should cause a protection
|
|
fault, uncomment either of the following two lines to test. */
|
|
/* xCheckTaskStack[ -1 ] = 0; */
|
|
/* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvRegTest1Task( void *pvParameters )
|
|
{
|
|
/* This task is created in privileged mode so can access the file scope
|
|
queue variable. Take a stack copy of this before the task is set into user
|
|
mode. Once this task is in user mode the file scope queue variable will no
|
|
longer be accessible but the stack copy will. */
|
|
xQueueHandle xQueue = xFileScopeCheckQueue;
|
|
|
|
/* 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
|
|
task, the other reg test task uses the task parameter instead. */
|
|
portSWITCH_TO_USER_MODE();
|
|
|
|
/* First check that the parameter value is as expected. */
|
|
if( pvParameters != ( void * ) 0x12345678 )
|
|
{
|
|
/* Error detected. Delete the task so it stops communicating with
|
|
the check task. */
|
|
prvDeleteMe();
|
|
}
|
|
|
|
|
|
for( ;; )
|
|
{
|
|
/* This task tests the kernel context switch mechanism by reading and
|
|
writing directly to registers - which requires the test to be written
|
|
in assembly code. */
|
|
__asm volatile
|
|
(
|
|
" MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
|
|
" MOV R5, #105 \n"
|
|
" MOV R6, #106 \n"
|
|
" MOV R8, #108 \n"
|
|
" MOV R9, #109 \n"
|
|
" MOV R10, #110 \n"
|
|
" MOV R11, #111 \n"
|
|
"reg1loop: \n"
|
|
" MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
|
|
" MOV R1, #101 \n"
|
|
" MOV R2, #102 \n"
|
|
" MOV R3, #103 \n"
|
|
" MOV R12, #112 \n"
|
|
" SVC #1 \n" /* Yield just to increase test coverage. */
|
|
" CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
|
|
" BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
|
|
" CMP R1, #101 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R2, #102 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R3, #103 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R4, #104 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R5, #105 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R6, #106 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R8, #108 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R9, #109 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R10, #110 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R11, #111 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R12, #112 \n"
|
|
" BNE prvDeleteMe \n"
|
|
:::"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
|
|
task is still functioning. */
|
|
prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
|
|
|
|
/* Go back to check all the register values again. */
|
|
__asm volatile( " B reg1loop " );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvRegTest2Task( void *pvParameters )
|
|
{
|
|
/* 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
|
|
method. */
|
|
xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
|
|
|
|
for( ;; )
|
|
{
|
|
/* This task tests the kernel context switch mechanism by reading and
|
|
writing directly to registers - which requires the test to be written
|
|
in assembly code. */
|
|
__asm volatile
|
|
(
|
|
" MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
|
|
" MOV R5, #5 \n"
|
|
" MOV R6, #6 \n"
|
|
" MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
|
|
" MOV R9, #9 \n"
|
|
" MOV R10, 10 \n"
|
|
" MOV R11, #11 \n"
|
|
"reg2loop: \n"
|
|
" MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
|
|
" MOV R1, #1 \n"
|
|
" MOV R2, #2 \n"
|
|
" MOV R3, #3 \n"
|
|
" MOV R12, #12 \n"
|
|
" CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
|
|
" BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
|
|
" CMP R1, #1 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R2, #2 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R3, #3 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R4, #4 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R5, #5 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R6, #6 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R8, #8 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R9, #9 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R10, #10 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R11, #11 \n"
|
|
" BNE prvDeleteMe \n"
|
|
" CMP R12, #12 \n"
|
|
" BNE prvDeleteMe \n"
|
|
:::"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
|
|
task is still functioning. */
|
|
prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
|
|
|
|
/* Go back to check all the register values again. */
|
|
__asm volatile( " B reg2loop " );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationIdleHook( void )
|
|
{
|
|
extern unsigned long __SRAM_segment_end__[];
|
|
extern unsigned long __privileged_data_start__[];
|
|
extern unsigned long __privileged_data_end__[];
|
|
extern unsigned long __FLASH_segment_start__[];
|
|
extern unsigned long __FLASH_segment_end__[];
|
|
volatile unsigned long *pul;
|
|
volatile unsigned long ulReadData;
|
|
|
|
/* The idle task, and therefore this function, run in Supervisor mode and
|
|
can therefore access all memory. Try reading from corners of flash and
|
|
RAM to ensure a memory fault does not occur.
|
|
|
|
Start with the edges of the privileged data area. */
|
|
pul = __privileged_data_start__;
|
|
ulReadData = *pul;
|
|
pul = __privileged_data_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Next the standard SRAM area. */
|
|
pul = __SRAM_segment_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* And the standard Flash area - the start of which is marked for
|
|
privileged access only. */
|
|
pul = __FLASH_segment_start__;
|
|
ulReadData = *pul;
|
|
pul = __FLASH_segment_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Reading off the end of Flash or SRAM space should cause a fault.
|
|
Uncomment one of the following two pairs of lines to test. */
|
|
|
|
/* pul = __FLASH_segment_end__ + 4;
|
|
ulReadData = *pul; */
|
|
|
|
/* pul = __SRAM_segment_end__ + 1;
|
|
ulReadData = *pul; */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvOldStyleUserModeTask( void *pvParameters )
|
|
{
|
|
extern unsigned long __privileged_data_start__[];
|
|
extern unsigned long __privileged_data_end__[];
|
|
extern unsigned long __SRAM_segment_end__[];
|
|
extern unsigned long __privileged_functions_end__[];
|
|
extern unsigned long __FLASH_segment_start__[];
|
|
extern unsigned long __FLASH_segment_end__[];
|
|
const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
|
|
volatile unsigned long *pul;
|
|
volatile unsigned long ulReadData;
|
|
|
|
/* The following lines are commented out to prevent the unused variable
|
|
compiler warnings when the tests that use the variable are also commented out.
|
|
extern unsigned long __privileged_functions_start__[];
|
|
const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
|
|
|
|
( void ) pvParameters;
|
|
|
|
/* This task is created in User mode using the original xTaskCreate() API
|
|
function. It should have access to all Flash and RAM except that marked
|
|
as Privileged access only. Reading from the start and end of the non-
|
|
privileged RAM should not cause a problem (the privileged RAM is the first
|
|
block at the bottom of the RAM memory). */
|
|
pul = __privileged_data_end__ + 1;
|
|
ulReadData = *pul;
|
|
pul = __SRAM_segment_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Likewise reading from the start and end of the non-privileged Flash
|
|
should not be a problem (the privileged Flash is the first block at the
|
|
bottom of the Flash memory). */
|
|
pul = __privileged_functions_end__ + 1;
|
|
ulReadData = *pul;
|
|
pul = __FLASH_segment_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Standard peripherals are accessible. */
|
|
ulReadData = *pulStandardPeripheralRegister;
|
|
|
|
/* System peripherals are not accessible. Uncomment the following line
|
|
to test. Also uncomment the declaration of pulSystemPeripheralRegister
|
|
at the top of this function. */
|
|
/* ulReadData = *pulSystemPeripheralRegister; */
|
|
|
|
/* Reading from anywhere inside the privileged Flash or RAM should cause a
|
|
fault. This can be tested by uncommenting any of the following pairs of
|
|
lines. Also uncomment the declaration of __privileged_functions_start__
|
|
at the top of this function. */
|
|
|
|
/* pul = __privileged_functions_start__;
|
|
ulReadData = *pul; */
|
|
|
|
/* pul = __privileged_functions_end__ - 1;
|
|
ulReadData = *pul; */
|
|
|
|
/* pul = __privileged_data_start__;
|
|
ulReadData = *pul; */
|
|
|
|
/* pul = __privileged_data_end__ - 1;
|
|
ulReadData = *pul; */
|
|
|
|
/* 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
|
|
allocated dynamically and I have not included any code to free it again. */
|
|
vTaskDelete( NULL );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvOldStylePrivilegedModeTask( void *pvParameters )
|
|
{
|
|
extern unsigned long __privileged_data_start__[];
|
|
extern unsigned long __privileged_data_end__[];
|
|
extern unsigned long __SRAM_segment_end__[];
|
|
extern unsigned long __privileged_functions_start__[];
|
|
extern unsigned long __privileged_functions_end__[];
|
|
extern unsigned long __FLASH_segment_start__[];
|
|
extern unsigned long __FLASH_segment_end__[];
|
|
volatile unsigned long *pul;
|
|
volatile unsigned long ulReadData;
|
|
const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
|
|
const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4; /* PCONP */
|
|
|
|
( void ) pvParameters;
|
|
|
|
/* This task is created in Privileged mode using the original xTaskCreate()
|
|
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
|
|
non-privileged RAM should not cause a problem (the privileged RAM is the
|
|
first block at the bottom of the RAM memory). */
|
|
pul = __privileged_data_end__ + 1;
|
|
ulReadData = *pul;
|
|
pul = __SRAM_segment_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Likewise reading from the start and end of the non-privileged Flash
|
|
should not be a problem (the privileged Flash is the first block at the
|
|
bottom of the Flash memory). */
|
|
pul = __privileged_functions_end__ + 1;
|
|
ulReadData = *pul;
|
|
pul = __FLASH_segment_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Reading from anywhere inside the privileged Flash or RAM should also
|
|
not be a problem. */
|
|
pul = __privileged_functions_start__;
|
|
ulReadData = *pul;
|
|
pul = __privileged_functions_end__ - 1;
|
|
ulReadData = *pul;
|
|
pul = __privileged_data_start__;
|
|
ulReadData = *pul;
|
|
pul = __privileged_data_end__ - 1;
|
|
ulReadData = *pul;
|
|
|
|
/* Finally, accessing both System and normal peripherals should both be
|
|
possible. */
|
|
ulReadData = *pulSystemPeripheralRegister;
|
|
ulReadData = *pulStandardPeripheralRegister;
|
|
|
|
/* 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
|
|
allocated dynamically and I have not included any code to free it again. */
|
|
vTaskDelete( NULL );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvDeleteMe( void )
|
|
{
|
|
vTaskDelete( NULL );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvSendImAlive( xQueueHandle xHandle, unsigned long ulTaskNumber )
|
|
{
|
|
if( xHandle != NULL )
|
|
{
|
|
xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvSetupHardware( void )
|
|
{
|
|
/* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
|
|
a workaround to allow the PLL to operate reliably. */
|
|
if( DEVICE_IS_REVA2 )
|
|
{
|
|
SysCtlLDOSet( SYSCTL_LDO_2_75V );
|
|
}
|
|
|
|
/* Set the clocking to run from the PLL at 50 MHz */
|
|
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationTickHook( void )
|
|
{
|
|
static unsigned long ulCallCount;
|
|
const unsigned long ulCallsBetweenSends = 5000 / portTICK_RATE_MS;
|
|
const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
|
|
portBASE_TYPE xDummy;
|
|
|
|
/* If configUSE_TICK_HOOK is set to 1 then this function will get called
|
|
from each RTOS tick. It is called from the tick interrupt and therefore
|
|
will be executing in the privileged state. */
|
|
|
|
ulCallCount++;
|
|
|
|
/* Is it time to print out the pass/fail message again? */
|
|
if( ulCallCount >= ulCallsBetweenSends )
|
|
{
|
|
ulCallCount = 0;
|
|
|
|
/* Send a message to the check task to command it to check that all
|
|
the tasks are still running then print out the status.
|
|
|
|
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
|
|
so can access xFileScopeCheckQueue directly. */
|
|
xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
|
|
{
|
|
/* 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. */
|
|
( void ) pxTask;
|
|
( void ) pcTaskName;
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationMallocFailedHook( void )
|
|
{
|
|
/* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
|
|
be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
|
|
is called automatically when a task, queue or semaphore is created. */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Just to keep the linker happy. */
|
|
void __error__( char *pcFilename, unsigned long ulLine )
|
|
{
|
|
( void ) pcFilename;
|
|
( void ) ulLine;
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Just to keep the linker happy. */
|
|
int uipprintf( const char *fmt, ... )
|
|
{
|
|
( void ) fmt;
|
|
return( 0 );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void hard_fault_handler(unsigned int * hardfault_args)
|
|
{
|
|
volatile unsigned int stacked_r0;
|
|
volatile unsigned int stacked_r1;
|
|
volatile unsigned int stacked_r2;
|
|
volatile unsigned int stacked_r3;
|
|
volatile unsigned int stacked_r12;
|
|
volatile unsigned int stacked_lr;
|
|
volatile unsigned int stacked_pc;
|
|
volatile unsigned int stacked_psr;
|
|
|
|
stacked_r0 = ((unsigned long) hardfault_args[0]);
|
|
stacked_r1 = ((unsigned long) hardfault_args[1]);
|
|
stacked_r2 = ((unsigned long) hardfault_args[2]);
|
|
stacked_r3 = ((unsigned long) hardfault_args[3]);
|
|
|
|
stacked_r12 = ((unsigned long) hardfault_args[4]);
|
|
stacked_lr = ((unsigned long) hardfault_args[5]);
|
|
stacked_pc = ((unsigned long) hardfault_args[6]);
|
|
stacked_psr = ((unsigned long) hardfault_args[7]);
|
|
|
|
/* Inspect stacked_pc to locate the offending instruction. */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void Fault_ISR( void ) __attribute__((naked));
|
|
void Fault_ISR( void )
|
|
{
|
|
__asm volatile
|
|
(
|
|
" tst lr, #4 \n"
|
|
" ite eq \n"
|
|
" mrseq r0, msp \n"
|
|
" mrsne r0, psp \n"
|
|
" ldr r1, [r0, #24] \n"
|
|
" ldr r2, handler_address_const \n"
|
|
" bx r2 \n"
|
|
" handler_address_const: .word hard_fault_handler \n"
|
|
);
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void MPU_Fault_ISR( void ) __attribute__((naked));
|
|
void MPU_Fault_ISR( void )
|
|
{
|
|
__asm volatile
|
|
(
|
|
" tst lr, #4 \n"
|
|
" ite eq \n"
|
|
" mrseq r0, msp \n"
|
|
" mrsne r0, psp \n"
|
|
" ldr r1, [r0, #24] \n"
|
|
" ldr r2, handler_address_const \n"
|
|
" bx r2 \n"
|
|
" handler2_address_const: .word hard_fault_handler \n"
|
|
);
|
|
}
|
|
/*-----------------------------------------------------------*/ |