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@ -1,6 +1,6 @@
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/*
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FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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@ -57,7 +57,7 @@
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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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* 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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@ -98,7 +98,7 @@
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/* Prototypes for functions that implement tasks. -----------*/
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/*-----------------------------------------------------------*/
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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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@ -128,15 +128,15 @@ static void prvRegTest2Task( void *pvParameters );
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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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* 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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* 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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@ -181,7 +181,7 @@ static void prvTestMemoryRegions( void );
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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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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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@ -196,8 +196,8 @@ stack size is defined in words, not bytes. */
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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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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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@ -206,9 +206,9 @@ 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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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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@ -238,7 +238,7 @@ static const xTaskParameters xCheckTaskParameters =
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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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{
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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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@ -246,17 +246,17 @@ static const xTaskParameters xCheckTaskParameters =
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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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/* 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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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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{
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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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@ -275,8 +275,8 @@ that stack size is defined in words, not bytes. */
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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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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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@ -380,11 +380,11 @@ const char *pcStatusMessage = "PASS\r\n";
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/* Print out the amount of free heap space so configTOTAL_HEAP_SIZE can be
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tuned. The heap size is set to be very small in this example and will need
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to be increased before many more tasks, queues or semaphores can be
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to be increased before many more tasks, queues or semaphores can be
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created. */
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debug_printf( "There are %d bytes of unused heap space.\r\n", xPortGetFreeHeapSize() );
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/* Demonstrate how the various memory regions can and can't be accessed.
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/* Demonstrate how the various memory regions can and can't be accessed.
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The task privilege level is set down to user mode within this function. */
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prvTestMemoryRegions();
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@ -398,26 +398,26 @@ const char *pcStatusMessage = "PASS\r\n";
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{
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/* Wait for the next message to arrive. */
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xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
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switch( lMessage )
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{
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case mainREG_TEST_1_STILL_EXECUTING :
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case mainREG_TEST_1_STILL_EXECUTING :
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/* Message from task 1, so task 1 must still be executing. */
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( ulStillAliveCounts[ 0 ] )++;
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break;
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case mainREG_TEST_2_STILL_EXECUTING :
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case mainREG_TEST_2_STILL_EXECUTING :
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/* Message from task 2, so task 2 must still be executing. */
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( ulStillAliveCounts[ 1 ] )++;
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break;
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case mainPRINT_SYSTEM_STATUS :
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case mainPRINT_SYSTEM_STATUS :
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/* Message from tick hook, time to print out the system
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status. If messages has stopped arriving from either reg
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test task then the status must be set to fail. */
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if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
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{
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/* One or both of the test tasks are no longer sending
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/* One or both of the test tasks are no longer sending
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'still alive' messages. */
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pcStatusMessage = "FAIL\r\n";
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}
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@ -431,7 +431,7 @@ const char *pcStatusMessage = "PASS\r\n";
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break;
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default :
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/* Something unexpected happened. Delete this task so the
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/* Something unexpected happened. Delete this task so the
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error is apparent (no output will be displayed). */
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prvDeleteMe();
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break;
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@ -445,8 +445,8 @@ static void prvTestMemoryRegions( void )
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long l;
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char cTemp;
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/* The check task (from which this function is called) is created in the
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Privileged mode. The privileged array can be both read from and written
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/* The check task (from which this function is called) is created in the
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Privileged mode. The privileged array can be both read from and written
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to while this task is privileged. */
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cPrivilegedOnlyAccessArray[ 0 ] = 'a';
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if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
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@ -457,15 +457,15 @@ char cTemp;
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}
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/* Writing off the end of the RAM allocated to this task will *NOT* cause a
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protection fault because the task is still executing in a privileged mode.
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protection fault because the task is still executing in a privileged mode.
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Uncomment the following to test. */
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/*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
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/* Now set the task into user mode. */
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portSWITCH_TO_USER_MODE();
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/* Accessing the privileged only array will now cause a fault. Uncomment
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the following line to test. */
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/* Accessing the privileged only array will now cause a fault. Uncomment
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the following line to test. */
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/*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
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/* The read/write array can still be successfully read and written. */
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@ -481,7 +481,7 @@ char cTemp;
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}
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/* But attempting to read or write off the end of the RAM allocated to this
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task will cause a fault. Uncomment either of the following two lines to
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task will cause a fault. Uncomment either of the following two lines to
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test. */
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/* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
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/* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
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@ -495,17 +495,19 @@ char cTemp;
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/* ...but cannot be written. Uncomment the following line to test. */
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/* cReadOnlyArray[ 0 ] = 'a'; */
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/* Writing to the first and last locations in the stack array should not
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/* Writing to the first and last locations in the stack array should not
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cause a protection fault. Note that doing this will cause the kernel to
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detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
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1. */
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xCheckTaskStack[ 0 ] = 0;
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xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0;
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/* Writing off either end of the stack array should cause a protection
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/* Writing off either end of the stack array should cause a protection
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fault, uncomment either of the following two lines to test. */
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/* xCheckTaskStack[ -1 ] = 0; */
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/* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
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( void ) cTemp;
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}
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/*-----------------------------------------------------------*/
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@ -517,7 +519,7 @@ mode. Once this task is in user mode the file scope queue variable will no
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longer be accessible but the stack copy will. */
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xQueueHandle xQueue = xFileScopeCheckQueue;
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/* Now the queue handle has been obtained the task can switch to user
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/* Now the queue handle has been obtained the task can switch to user
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mode. This is just one method of passing a handle into a protected
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task, the other reg test task uses the task parameter instead. */
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portSWITCH_TO_USER_MODE();
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@ -532,12 +534,12 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
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for( ;; )
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{
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{
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/* This task tests the kernel context switch mechanism by reading and
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writing directly to registers - which requires the test to be written
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in assembly code. */
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__asm volatile
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(
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__asm volatile
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(
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" MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
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" MOV R5, #105 \n"
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" MOV R6, #106 \n"
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@ -560,8 +562,8 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
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" BNE prvDeleteMe \n"
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" CMP R3, #103 \n"
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" BNE prvDeleteMe \n"
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" CMP R4, #104 \n"
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" BNE prvDeleteMe \n"
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" CMP R4, #104 \n"
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" BNE prvDeleteMe \n"
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" CMP R5, #105 \n"
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" BNE prvDeleteMe \n"
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" CMP R6, #106 \n"
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@ -579,7 +581,7 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
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:::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
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);
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/* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
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/* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
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task is still functioning. */
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prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
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@ -592,7 +594,7 @@ xQueueHandle xQueue = xFileScopeCheckQueue;
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static void prvRegTest2Task( void *pvParameters )
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{
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/* The queue handle is passed in as the task parameter. This is one method of
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passing data into a protected task, the other reg test task uses a different
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passing data into a protected task, the other reg test task uses a different
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method. */
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xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
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@ -601,15 +603,15 @@ xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
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/* This task tests the kernel context switch mechanism by reading and
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writing directly to registers - which requires the test to be written
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in assembly code. */
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__asm volatile
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(
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__asm volatile
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(
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" MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
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" MOV R5, #5 \n"
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" MOV R6, #6 \n"
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" MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
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" MOV R9, #9 \n"
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" MOV R10, 10 \n"
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" MOV R11, #11 \n"
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" MOV R11, #11 \n"
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"reg2loop: \n"
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" MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
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" MOV R1, #1 \n"
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@ -643,7 +645,7 @@ xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
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:::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
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);
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/* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
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/* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
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task is still functioning. */
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prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
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@ -665,8 +667,8 @@ volatile unsigned long ulReadData;
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/* The idle task, and therefore this function, run in Supervisor mode and
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can therefore access all memory. Try reading from corners of flash and
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RAM to ensure a memory fault does not occur.
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RAM to ensure a memory fault does not occur.
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Start with the edges of the privileged data area. */
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pul = __privileged_data_start__;
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ulReadData = *pul;
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@ -684,14 +686,16 @@ volatile unsigned long ulReadData;
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pul = __FLASH_segment_end__ - 1;
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ulReadData = *pul;
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/* Reading off the end of Flash or SRAM space should cause a fault.
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/* Reading off the end of Flash or SRAM space should cause a fault.
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Uncomment one of the following two pairs of lines to test. */
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/* pul = __FLASH_segment_end__ + 4;
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ulReadData = *pul; */
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/* pul = __SRAM_segment_end__ + 1;
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ulReadData = *pul; */
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( void ) ulReadData;
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}
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/*-----------------------------------------------------------*/
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@ -707,7 +711,7 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
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volatile unsigned long *pul;
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volatile unsigned long ulReadData;
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/* The following lines are commented out to prevent the unused variable
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/* The following lines are commented out to prevent the unused variable
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compiler warnings when the tests that use the variable are also commented out.
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extern unsigned long __privileged_functions_start__[];
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const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
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@ -747,20 +751,22 @@ const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned
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/* pul = __privileged_functions_start__;
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ulReadData = *pul; */
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/* pul = __privileged_functions_end__ - 1;
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ulReadData = *pul; */
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/* pul = __privileged_data_start__;
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ulReadData = *pul; */
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/* pul = __privileged_data_end__ - 1;
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ulReadData = *pul; */
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/* Must not just run off the end of a task function, so delete this task.
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/* Must not just run off the end of a task function, so delete this task.
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Note that because this task was created using xTaskCreate() the stack was
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allocated dynamically and I have not included any code to free it again. */
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vTaskDelete( NULL );
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( void ) ulReadData;
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}
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/*-----------------------------------------------------------*/
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@ -780,10 +786,10 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
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( void ) pvParameters;
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/* This task is created in Privileged mode using the original xTaskCreate()
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API function. It should have access to all Flash and RAM including that
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marked as Privileged access only. So reading from the start and end of the
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non-privileged RAM should not cause a problem (the privileged RAM is the
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/* This task is created in Privileged mode using the original xTaskCreate()
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API function. It should have access to all Flash and RAM including that
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marked as Privileged access only. So reading from the start and end of the
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non-privileged RAM should not cause a problem (the privileged RAM is the
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first block at the bottom of the RAM memory). */
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pul = __privileged_data_end__ + 1;
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ulReadData = *pul;
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@ -805,7 +811,7 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
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pul = __privileged_functions_end__ - 1;
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ulReadData = *pul;
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pul = __privileged_data_start__;
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ulReadData = *pul;
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ulReadData = *pul;
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pul = __privileged_data_end__ - 1;
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ulReadData = *pul;
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@ -814,10 +820,12 @@ const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigne
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ulReadData = *pulSystemPeripheralRegister;
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ulReadData = *pulStandardPeripheralRegister;
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/* Must not just run off the end of a task function, so delete this task.
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/* Must not just run off the end of a task function, so delete this task.
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Note that because this task was created using xTaskCreate() the stack was
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allocated dynamically and I have not included any code to free it again. */
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vTaskDelete( NULL );
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( void ) ulReadData;
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}
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/*-----------------------------------------------------------*/
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@ -869,8 +877,8 @@ portBASE_TYPE xDummy;
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ulCallCount = 0;
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/* Send a message to the check task to command it to check that all
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the tasks are still running then print out the status.
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the tasks are still running then print out the status.
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This is running in an ISR so has to use the "FromISR" version of
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xQueueSend(). Because it is in an ISR it is running with privileges
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so can access xFileScopeCheckQueue directly. */
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@ -881,7 +889,7 @@ portBASE_TYPE xDummy;
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void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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{
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/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
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/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
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function will automatically get called if a task overflows its stack. */
|
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( void ) pxTask;
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( void ) pcTaskName;
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@ -938,6 +946,15 @@ volatile unsigned int stacked_psr;
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/* Inspect stacked_pc to locate the offending instruction. */
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for( ;; );
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( void ) stacked_psr;
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( void ) stacked_pc;
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( void ) stacked_lr;
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( void ) stacked_r12;
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( void ) stacked_r0;
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( void ) stacked_r1;
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( void ) stacked_r2;
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( void ) stacked_r3;
|
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}
|
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/*-----------------------------------------------------------*/
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Richard Barry
13 years ago