@ -20,7 +20,7 @@
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE .
*
* https : //www.FreeRTOS.org
* https : // aws.amazon.com/freertos
* https : // github.com/FreeRTOS
*
*/
@ -134,8 +134,13 @@ 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 ) ;
*
* It is not possible to use xTaskCreate ( ) to create an unprivileged task since
* heap moved to the privileged data section , so the access tests implemented by
* this function are now called from an unprivileged register check task created
* using the xTaskCreateRestricted ( ) API .
*/
static void prvOldStyleUserModeTask ( void ) ;
/*
* Prototype for a task created in Privileged mode using the original
@ -258,7 +263,7 @@ stack size is defined in words, not bytes. */
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 ) ;
PRIVILEGED_DATA 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 TaskParameters_t structure below . THIS IS JUST TO DEMONSTRATE THE
@ -332,11 +337,13 @@ 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 ) ;
static portSTACK_TYPE xRegTest3Stack [ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO ( mainREG_TEST_STACK_ALIGNMENT ) ;
static portSTACK_TYPE xRegTest4Stack [ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO ( mainREG_TEST_STACK_ALIGNMENT ) ;
/* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
static const TaskParameters_t xRegTest1Parameters =
{
vRegTest1Implementation , /* pvTaskCode - the function that implements the task. */
vRegTest1Implementation , /* pvTaskCode - the function that implements the task. */
" RegTest1 " , /* pcName */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
( void * ) configREG_TEST_TASK_1_PARAMETER , /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
@ -353,7 +360,7 @@ static const TaskParameters_t xRegTest1Parameters =
static TaskParameters_t xRegTest2Parameters =
{
vRegTest2Implementation , /* pvTaskCode - the function that implements the task. */
vRegTest2Implementation , /* pvTaskCode - the function that implements the task. */
" 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. */
@ -366,6 +373,40 @@ static TaskParameters_t xRegTest2Parameters =
{ 0x00 , 0x00 , 0x00 }
}
} ;
/*-----------------------------------------------------------*/
static const TaskParameters_t xRegTest3Parameters =
{
prvRegTest3Task , /* pvTaskCode - the function that implements the task. */
" RegTest3 " , /* pcName */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
( void * ) configREG_TEST_TASK_3_PARAMETER , /* 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. */
xRegTest3Stack , /* 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 const TaskParameters_t xRegTest4Parameters =
{
prvRegTest4Task , /* pvTaskCode - the function that implements the task. */
" RegTest4 " , /* pcName */
mainREG_TEST_STACK_SIZE_WORDS , /* usStackDepth */
( void * ) configREG_TEST_TASK_4_PARAMETER , /* 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. */
xRegTest4Stack , /* 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 }
}
} ;
/*-----------------------------------------------------------*/
/* Configures the task that is deleted. ---------------------*/
@ -419,7 +460,7 @@ int main( void )
/* Create three test tasks. Handles to the created tasks are not required,
hence the second parameter is NULL . */
xTaskCreateRestricted ( & xRegTest1Parameters , NULL ) ;
xTaskCreateRestricted ( & xRegTest2Parameters , NULL ) ;
xTaskCreateRestricted ( & xRegTest2Parameters , NULL ) ;
xTaskCreateRestricted ( & xCheckTaskParameters , NULL ) ;
/* Create a task that does nothing but ensure some of the MPU API functions
@ -428,16 +469,6 @@ int main( void )
get deleted in the idle task hook . */
xTaskCreateRestricted ( & xTaskToDeleteParameters , & xTaskToDelete ) ;
/* Create the tasks that are created using the original xTaskCreate() API
function . */
xTaskCreate ( prvOldStyleUserModeTask , /* The function that implements the task. */
" 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. */
" Task2 " , /* Text name for the task. */
100 , /* Stack depth in words. */
@ -448,8 +479,8 @@ int main( void )
/* Create the third and fourth register check tasks, as described at the top
of this file . */
xTaskCreate ( prvRegTest3Task , " Reg3 " , configMINIMAL_STACK_SIZE , configREG_TEST_TASK_3_PARAMETER , tskIDLE_PRIORITY , NULL ) ;
xTaskCreate ( prvRegTest4Task , " Reg4 " , configMINIMAL_STACK_SIZE , configREG_TEST_TASK_4_PARAMETER , tskIDLE_PRIORITY , NULL ) ;
xTaskCreate Restricted( & xRegTest3Parameters , NULL ) ;
xTaskCreate Restricted( & xRegTest4Parameters , NULL ) ;
/* Create and start the software timer. */
xTimer = xTimerCreate ( " Timer " , /* Test name for the timer. */
@ -762,8 +793,12 @@ static void prvTaskToDelete( void *pvParameters )
/* Check the enter and exit critical macros are working correctly. If the
SVC priority is below configMAX_SYSCALL_INTERRUPT_PRIORITY then this will
fault . */
taskENTER_CRITICAL ( ) ;
taskEXIT_CRITICAL ( ) ;
# if( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 )
{
taskENTER_CRITICAL ( ) ;
taskEXIT_CRITICAL ( ) ;
}
# endif
/* Exercise the API of various RTOS objects. */
prvExerciseEventGroupAPI ( ) ;
@ -940,7 +975,7 @@ volatile uint32_t ulReadData;
}
/*-----------------------------------------------------------*/
static void prvOldStyleUserModeTask ( void * pvParameters )
static void prvOldStyleUserModeTask ( void )
{
/*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
volatile const uint32_t * pul ;
@ -951,8 +986,6 @@ compiler warnings when the tests that use the variable are also commented out. *
/* extern uint32_t __privileged_functions_start__[]; */
/* const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 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 -
@ -996,11 +1029,6 @@ compiler warnings when the tests that use the variable are also commented out. *
/*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 ) ;
( void ) ulReadData ;
}
/*-----------------------------------------------------------*/
@ -1199,6 +1227,12 @@ static void prvRegTest3Task( void *pvParameters )
in correctly . */
if ( pvParameters = = configREG_TEST_TASK_3_PARAMETER )
{
/* Run the unprivileged mode access tests that used to be executed
form an unprivileged task created using the xTaskCreate ( ) API .
Since the heap moved to the privileged data section xTaskCreate ( ) can
no longer be used to create unprivileged tasks . */
prvOldStyleUserModeTask ( ) ;
/* Start the part of the test that is written in assembler. */
vRegTest3Implementation ( ) ;
}
RichardBarry
3 years ago
committed by
GitHub