Outline ![]()
Files ![]()
loading...
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
/**
******************************************************************************
* @file FreeRTOS/FreeRTOS_MPU/Src/main.c
* @author MCD Application Team
* @brief Main Program file of the FreeRTOS MPU application.
******************************************************************************
* @attention
*
* Copyright (c) 2016 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "main.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Definitions for the messages that can be sent to the check task. */
#define TEST_1_STILL_EXECUTING ( 0 )
#define TEST_2_STILL_EXECUTING ( 1 )
#define CYCLE_RESET ( 2 )
#define TEST_TASK_1_PARAMETER ( ( void * ) 0x11112222 )
/* Private macro -------------------------------------------------------------*/
#if defined(__ICCARM__)
#define mainALIGN_TO( x )
#else
#define mainALIGN_TO( x ) __attribute__((aligned(x)))
#endif
/* Private function prototypes -----------------------------------------------*/
static void SystemClock_Config(void);
/*
* Prototype for the two test tasks, which execute in User mode.
* Amongst other things, Both tasks execute at the idle priority so will get
* preempted regularly. Each task repeatedly sends a
* message on a queue to a 'check' task so the check task knows the test task
* is still executing and has not detected any errors. If an error
* is detected within the task the task is simply deleted so it no longer sends
* messages.
*
* Both tasks obtain access to the queue handle in different ways;
* Test1Task() is created in Privileged mode and copies the queue handle to
* its local stack before setting itself to User mode, and Test2Task() receives
* the task handle using its parameter.
*/
static void Test1Task( void *pvParameters );
static void Test2Task( 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 first two test tasks as described above.
*
* 2) "reset cycle" sent periodically by the tick hook function (and
* therefore from within an interrupt) which commands the check task to verify
* the execution of the application
*/
static void CheckTask( 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 UserModeTask( 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 PrivilegedModeTask( void *pvParameters );
/*
* Used by the two test tasks to send messages to the check task.
* The message just lets the check task know that the tasks are still functioning
* correctly. If a 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 SendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber );
/*
* The check task is created with access to three memory regions (plus its
* stack). Each memory region is configured with different parameters and
* TestMemoryRegions() demonstrates what can and cannot be accessed for each
* region. It 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 TestMemoryRegions( void );
/* Private variables ---------------------------------------------------------*/
/* The handle of the queue used to communicate between tasks and between tasks
and interrupts. Note that this is a global 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. */
QueueHandle_t xGlobalScopeCheckQueue = NULL;
#if defined(__CC_ARM) /* !< ARM Compiler */
extern uint32_t Image$$ER_IROM_FREERTOS_SYSTEM_CALLS$$Base;
extern uint32_t Image$$ER_IROM_FREERTOS_SYSTEM_CALLS$$Limit;
/* Memory map needed for MPU setup. Must match the one defined in
* the scatter-loading file (Project.sct). */
const uint32_t * __FLASH_segment_start__ = ( uint32_t * ) 0x08000000;
const uint32_t * __FLASH_segment_end__ = ( uint32_t * ) 0x080FFFFF;
const uint32_t * __SRAM_segment_start__ = ( uint32_t * ) 0x20000000;
const uint32_t * __SRAM_segment_end__ = ( uint32_t * ) 0x20017FFF;
const uint32_t * __privileged_functions_start__ = ( uint32_t * ) 0x08000000;
const uint32_t * __privileged_functions_end__ = ( uint32_t * ) 0x08007FFF;
const uint32_t * __privileged_data_start__ = ( uint32_t * ) 0x20000000;
const uint32_t * __privileged_data_end__ = ( uint32_t * ) 0x20007FFF;
const uint32_t * __syscalls_flash_start__ = ( uint32_t * ) &( Image$$ER_IROM_FREERTOS_SYSTEM_CALLS$$Base );
const uint32_t * __syscalls_flash_end__ = ( uint32_t * ) &( Image$$ER_IROM_FREERTOS_SYSTEM_CALLS$$Limit );
#else
extern uint32_t __FLASH_segment_start__[];
extern uint32_t __FLASH_segment_end__[];
extern uint32_t __SRAM_segment_end__[];
extern uint32_t __privileged_functions_start__[];
extern uint32_t __privileged_functions_end__[];
extern uint32_t __privileged_data_start__[];
extern uint32_t __privileged_data_end__[];
extern uint32_t __syscalls_flash_start__[];
extern uint32_t __syscalls_flash_end__ [];
#endif
/* 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 CHECK_TASK_STACK_SIZE_WORDS 256
#define CHECK_TASK_STACK_ALIGNMENT ( CHECK_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. */
#if defined(__ICCARM__)
#pragma data_alignment= CHECK_TASK_STACK_ALIGNMENT
#endif
static portSTACK_TYPE xCheckTaskStack[ CHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( CHECK_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
MPU FUNCTIONALITY, the data is not used by the check tasks primary function.
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 READ_WRITE_ARRAY_SIZE 130
#define READ_WRITE_ALIGN_SIZE 128
#if defined(__ICCARM__)
#pragma data_alignment= READ_WRITE_ALIGN_SIZE
#endif
char ReadWriteArray[ READ_WRITE_ARRAY_SIZE ] mainALIGN_TO( READ_WRITE_ALIGN_SIZE );
#define READ_ONLY_ARRAY_SIZE 260
#define READ_ONLY_ALIGN_SIZE 256
#if defined(__ICCARM__)
#pragma data_alignment= READ_ONLY_ALIGN_SIZE
#endif
char ReadOnlyArray[ READ_ONLY_ARRAY_SIZE ] mainALIGN_TO( READ_ONLY_ALIGN_SIZE );
#define PRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
#define PRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
#if defined(__ICCARM__)
#pragma data_alignment= PRIVILEGED_ONLY_ACCESS_ALIGN_SIZE
#endif
char PrivilegedOnlyAccessArray[ PRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( PRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
/* Fill in a TaskParameters_t structure to define the check task - this is the
structure passed to the xTaskCreateRestricted() function. */
static const TaskParameters_t xCheckTaskParameters =
{
CheckTask,
"CheckTask",
CHECK_TASK_STACK_SIZE_WORDS,
( void * ) 0x12121212,
( tskIDLE_PRIORITY + 1 ) | portPRIVILEGE_BIT,
xCheckTaskStack,
{
/* Base address Length Parameters */
{ ReadWriteArray, READ_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
{ ReadOnlyArray, READ_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
{ PrivilegedOnlyAccessArray, PRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
}
};
/* Data used by the 'test' tasks. -----------------------*/
/* Define the constants used to allocate the test task stacks. Note that
that stack size is defined in words, not bytes. */
#define TEST_STACK_SIZE_WORDS 128
#define TEST_STACK_ALIGNMENT ( TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
/* Declare the stacks that will be used by the 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. */
#if defined(__ICCARM__)
#pragma data_alignment= TEST_STACK_ALIGNMENT
#endif
static portSTACK_TYPE xTest1Stack[ TEST_STACK_SIZE_WORDS ] mainALIGN_TO( TEST_STACK_ALIGNMENT );
#if defined(__ICCARM__)
#pragma data_alignment= TEST_STACK_ALIGNMENT
#endif
static portSTACK_TYPE xTest2Stack[ TEST_STACK_SIZE_WORDS ] mainALIGN_TO( TEST_STACK_ALIGNMENT );
/* Fill in a TaskParameters_t structure per test task to define the tasks. */
static const TaskParameters_t xTest1Parameters =
{
Test1Task,
"Test1Task",
TEST_STACK_SIZE_WORDS,
( void * ) TEST_TASK_1_PARAMETER,
tskIDLE_PRIORITY | portPRIVILEGE_BIT,
xTest1Stack,
{
/* Base address Length Parameters */
{ 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00 }
}
};
static TaskParameters_t xTest2Parameters =
{
Test2Task,
"Test2Task",
TEST_STACK_SIZE_WORDS,
( void * ) NULL,
tskIDLE_PRIORITY,
xTest2Stack,
{
/* Base address Length Parameters */
{ 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00 }
}
};
/* Private functions ---------------------------------------------------------*/
int main( void )
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Create the queue used to pass "I'm alive" messages to the check task. */
xGlobalScopeCheckQueue = xQueueCreate( 1, sizeof( uint32_t ) );
/* 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 xTest2Parameters can only be set after the
queue has been created so is set here. */
xTest2Parameters.pvParameters = xGlobalScopeCheckQueue;
/* Create three test tasks. Handles to the created tasks are not required,
hence the second parameter is NULL. */
xTaskCreateRestricted( &xTest1Parameters, NULL );
xTaskCreateRestricted( &xTest2Parameters, NULL );
xTaskCreateRestricted( &xCheckTaskParameters, NULL );
/* Create the tasks that are created using the original xTaskCreate() API function. */
xTaskCreate( UserModeTask, "Task1", 100, NULL, 3, NULL );
xTaskCreate( PrivilegedModeTask, "Task2", 100, NULL,( 3 | portPRIVILEGE_BIT ), NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void CheckTask( 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. */
QueueHandle_t xQueue = xGlobalScopeCheckQueue;
int32_t lMessage;
/* Just to remove compiler warning. */
( void ) pvParameters;
/* 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. */
TestMemoryRegions();
ReadWriteArray[0] = 0;
ReadWriteArray[1] = 0;
ReadWriteArray[2] = 0;
/* 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 TEST_1_STILL_EXECUTING :
(ReadWriteArray[0])++;
break;
case TEST_2_STILL_EXECUTING:
(ReadWriteArray[1])++;
break;
case CYCLE_RESET:
/* Message from tick hook, to reset the count cycle.
If messages have stopped arriving from either of
the two test task then the status must be set to fail. */
if( ( ReadWriteArray[ 0 ] == 0 ) || ( ReadWriteArray[ 1 ] == 0 ) )
{
/* One or both of the test tasks are no longer sending
'still alive' messages. */
for(;;);
}
else
{
/* Reset the count of 'still alive' messages. */
ReadWriteArray[0] = 0;
ReadWriteArray[1] = 0;
/* Increment The cycle count */
(ReadWriteArray[2])++;
}
break;
default :
/* Something unexpected happened. Delete this task so the
error is apparent (no output will be displayed). */
vTaskDelete( NULL );
break;
}
}
}
/*-----------------------------------------------------------*/
static void TestMemoryRegions( void )
{
int32_t x;
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. */
PrivilegedOnlyAccessArray[ 0 ] = 'a';
if( PrivilegedOnlyAccessArray[ 0 ] != 'a' )
{
/* Something unexpected happened. Delete this task so the error is
apparent (no output will be displayed). */
vTaskDelete( NULL );
}
/* 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. */
/*PrivilegedOnlyAccessArray[ PRIVILEGED_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. */
/*PrivilegedOnlyAccessArray[ 0 ] = 'a';*/
/* The read/write array can still be successfully read and written. */
for( x = 0; x < READ_WRITE_ALIGN_SIZE; x++ )
{
ReadWriteArray[ x ] = 'a';
if( ReadWriteArray[ x ] != 'a' )
{
/* Something unexpected happened. Delete this task so the error is
apparent (no output will be displayed). */
vTaskDelete( NULL );
}
}
/* 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. */
/* ReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
/* ReadWriteArray[ READ_WRITE_ALIGN_SIZE ] = 0x00; */
/* The read only array can be successfully read... */
for( x = 0; x < READ_ONLY_ALIGN_SIZE; x++ )
{
cTemp = ReadOnlyArray[ x ];
}
/* ...but cannot be written. Uncomment the following line to test. */
/* ReadOnlyArray[ 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, hence the test is commented out by default. */
/* xCheckTaskStack[ 0 ] = 0;
xCheckTaskStack[ CHECK_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[ CHECK_TASK_STACK_SIZE_WORDS ] = 0; */
( void ) cTemp;
}
/*-----------------------------------------------------------*/
static void UserModeTask( void *pvParameters )
{
/*const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;*/
volatile const uint32_t *pul;
volatile uint32_t 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 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-
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 );
( void ) ulReadData;
}
/*-----------------------------------------------------------*/
static void PrivilegedModeTask( void *pvParameters )
{
volatile const uint32_t *pul;
volatile uint32_t ulReadData;
const volatile uint32_t *pulSystemPeripheralRegister = ( volatile uint32_t * ) 0xe000e014; /* Systick */
const volatile uint32_t *pulStandardPeripheralRegister = ( volatile uint32_t * ) 0x40000000;
( 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 );
( void ) ulReadData;
}
/*-----------------------------------------------------------*/
static void SendImAlive( QueueHandle_t xHandle, uint32_t ulTaskNumber )
{
if( xHandle != NULL )
{
xQueueSend( xHandle, &ulTaskNumber, 0 );
}
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
volatile const uint32_t *pul;
volatile uint32_t 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; */
( void ) ulReadData;
}
/*-----------------------------------------------------------*/
void vApplicationTickHook( void )
{
static uint32_t ulCallCount = 0;
const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 5000 );
const uint32_t ulMessage = CYCLE_RESET;
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 xGlobalScopeCheckQueue directly. */
xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
}
}
/*-----------------------------------------------------------*/
static void Test1Task( 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. */
QueueHandle_t xQueue = xGlobalScopeCheckQueue;
const TickType_t xDelayTime = pdMS_TO_TICKS( 100UL );
/* 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 * ) TEST_TASK_1_PARAMETER )
{
/* Error detected. Delete the task so it stops communicating with
the check task. */
vTaskDelete(NULL);
}
for( ;; )
{
/* Send TEST_1_STILL_EXECUTING to the check task to indicate that this
task is still functioning. */
SendImAlive( xQueue, TEST_1_STILL_EXECUTING );
vTaskDelay( xDelayTime );
}
}
/*-----------------------------------------------------------*/
static void Test2Task( 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. */
QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
const TickType_t xDelayTime = pdMS_TO_TICKS( 100UL );
for( ;; )
{
/* Send TEST_2_STILL_EXECUTING to the check task to indicate
that this task is still functioning. */
SendImAlive( xQueue, TEST_2_STILL_EXECUTING );
vTaskDelay( xDelayTime );
}
}
#if configCHECK_FOR_STACK_OVERFLOW
void vApplicationStackOverflowHook( TaskHandle_t pxTask, 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( ;; );
}
#endif
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 180000000
* HCLK(Hz) = 180000000
* AHB Prescaler = 1
* APB1 Prescaler = 4
* APB2 Prescaler = 2
* HSE Frequency(Hz) = 25000000
* PLL_M = 25
* PLL_N = 360
* PLL_P = 2
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale1 mode
* Flash Latency(WS) = 5
* @param None
* @retval None
*/
void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable HSE Oscillator and activate PLL with HSE as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 25;
RCC_OscInitStruct.PLL.PLLN = 360;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
HAL_PWREx_ActivateOverDrive();
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
}
Details ![]()
Show: from Types: Columns: ![]( "Show Project Names")
![]( "Show Locations")
![]( "Show Referring Symbols")
![]( "Show Scope")
This file uses the notable symbols shown below. Click anywhere in the file to view more details.