Detect more startup config errors on Cortex M (#832)
Verify that the application has correctly installed PendSV
and SVCall handlers. The application can choose to
disable these checks by setting configCHECK_HANDLER_INSTALLATION
to 0 in their FreeRTOSConfig.h.
diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index 06c50ad..b6caec7 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -365,6 +365,17 @@
#define configPRECONDITION_DEFINED 1
#endif
+#ifndef configCHECK_HANDLER_INSTALLATION
+ #define configCHECK_HANDLER_INSTALLATION 1
+#else
+
+/* The application has explicitly defined configCHECK_HANDLER_INSTALLATION
+ * to 1. The checks requires configASSERT() to be defined. */
+ #if ( ( configCHECK_HANDLER_INSTALLATION == 1 ) && ( configASSERT_DEFINED == 0 ) )
+ #error You must define configASSERT() when configCHECK_HANDLER_INSTALLATION is 1.
+ #endif
+#endif
+
#ifndef portMEMORY_BARRIER
#define portMEMORY_BARRIER()
#endif
diff --git a/portable/ARMv8M/non_secure/port.c b/portable/ARMv8M/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/ARMv8M/non_secure/port.c
+++ b/portable/ARMv8M/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM0/port.c b/portable/GCC/ARM_CM0/port.c
index 93e6d04..53bc33a 100644
--- a/portable/GCC/ARM_CM0/port.c
+++ b/portable/GCC/ARM_CM0/port.c
@@ -34,6 +34,9 @@
#include "FreeRTOS.h"
#include "task.h"
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@@ -51,6 +54,10 @@
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
@@ -200,20 +207,20 @@
void vPortStartFirstTask( void )
{
- /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
- * table offset register that can be used to locate the initial stack value.
- * Not all M0 parts have the application vector table at address 0. */
+ /* Don't reset the MSP stack as is done on CM3/4 devices. The vector table
+ * in some CM0 devices cannot be modified and thus may not hold the
+ * application's initial MSP value. */
__asm volatile (
" .syntax unified \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Obtain location of pxCurrentTCB. */
" ldr r3, [r2] \n"
" ldr r0, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
- " adds r0, #32 \n" /* Discard everything up to r0. */
- " msr psp, r0 \n" /* This is now the new top of stack to use in the task. */
+ " adds r0, #32 \n" /* Discard everything up to r0. */
+ " msr psp, r0 \n" /* This is now the new top of stack to use in the task. */
" movs r0, #2 \n" /* Switch to the psp stack. */
- " msr CONTROL, r0 \n"
+ " msr CONTROL, r0 \n"
" isb \n"
- " pop {r0-r5} \n" /* Pop the registers that are saved automatically. */
+ " pop {r0-r5} \n" /* Pop the registers that are saved automatically. */
" mov lr, r5 \n" /* lr is now in r5. */
" pop {r3} \n" /* Return address is now in r3. */
" pop {r2} \n" /* Pop and discard XPSR. */
@@ -231,7 +238,42 @@
*/
BaseType_t xPortStartScheduler( void )
{
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the function xPortPendSVHandler for PendSV
+ * interrupt.
+ * 2. Indirect Routing - Install separate handler for PendSV interrupt and
+ * route program control from that handler to xPortPendSVHandler function.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ /* Point pxVectorTable to the interrupt vector table. Systems without
+ * a VTOR register provide the value zero in the VTOR register and
+ * the vector table itself is located at the address 0x00000000. */
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handler for PendSV interrupt. We do not check the installation of the
+ * SysTick handler because the application may choose to drive the RTOS
+ * tick using a timer other than the SysTick timer by overriding the
+ * weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handler. For help installing the FreeRTOS handler, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
+ /* Make PendSV and SysTick the lowest priority interrupts. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
diff --git a/portable/GCC/ARM_CM23/non_secure/port.c b/portable/GCC/ARM_CM23/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM23/non_secure/port.c
+++ b/portable/GCC/ARM_CM23/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM23_NTZ/non_secure/port.c b/portable/GCC/ARM_CM23_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM23_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM23_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM3/port.c b/portable/GCC/ARM_CM3/port.c
index 483f813..8ce6fa6 100644
--- a/portable/GCC/ARM_CM3/port.c
+++ b/portable/GCC/ARM_CM3/port.c
@@ -34,10 +34,14 @@
#include "FreeRTOS.h"
#include "task.h"
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
@@ -52,6 +56,11 @@
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -259,6 +268,40 @@
*/
BaseType_t xPortStartScheduler( void )
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -343,9 +386,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
diff --git a/portable/GCC/ARM_CM33/non_secure/port.c b/portable/GCC/ARM_CM33/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM33/non_secure/port.c
+++ b/portable/GCC/ARM_CM33/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM33_NTZ/non_secure/port.c b/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM35P/non_secure/port.c b/portable/GCC/ARM_CM35P/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM35P/non_secure/port.c
+++ b/portable/GCC/ARM_CM35P/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c b/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM35P_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM3_MPU/port.c b/portable/GCC/ARM_CM3_MPU/port.c
index 1b774bd..d8c1832 100644
--- a/portable/GCC/ARM_CM3_MPU/port.c
+++ b/portable/GCC/ARM_CM3_MPU/port.c
@@ -58,6 +58,9 @@
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to access and manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@@ -87,7 +90,6 @@
#define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
-#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
@@ -95,6 +97,11 @@
#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 )
#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -414,7 +421,6 @@
switch( ucSVCNumber )
{
case portSVC_START_SCHEDULER:
- portNVIC_SHPR2_REG |= portNVIC_SVC_PRI;
prvRestoreContextOfFirstTask();
break;
@@ -737,6 +743,40 @@
*/
BaseType_t xPortStartScheduler( void )
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -821,11 +861,12 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the same priority as the kernel, and the SVC
- * handler higher priority so it can be used to exit a critical section (where
- * lower priorities are masked). */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
+
/* Configure the regions in the MPU that are common to all tasks. */
prvSetupMPU();
diff --git a/portable/GCC/ARM_CM4F/port.c b/portable/GCC/ARM_CM4F/port.c
index 3846a50..3e5151b 100644
--- a/portable/GCC/ARM_CM4F/port.c
+++ b/portable/GCC/ARM_CM4F/port.c
@@ -38,10 +38,14 @@
#error This port can only be used when the project options are configured to enable hardware floating point support.
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
@@ -62,6 +66,11 @@
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -302,6 +311,40 @@
configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -386,9 +429,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
diff --git a/portable/GCC/ARM_CM4_MPU/port.c b/portable/GCC/ARM_CM4_MPU/port.c
index ac602ca..0775cfb 100644
--- a/portable/GCC/ARM_CM4_MPU/port.c
+++ b/portable/GCC/ARM_CM4_MPU/port.c
@@ -62,6 +62,9 @@
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to access and manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@@ -97,7 +100,6 @@
#define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
-#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34UL ) /* Floating point context control register. */
@@ -109,6 +111,11 @@
#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 )
#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -448,7 +455,6 @@
switch( ucSVCNumber )
{
case portSVC_START_SCHEDULER:
- portNVIC_SHPR2_REG |= portNVIC_SVC_PRI;
prvRestoreContextOfFirstTask();
break;
@@ -823,6 +829,40 @@
configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
#endif
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -907,11 +947,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the same priority as the kernel, and the SVC
- * handler higher priority so it can be used to exit a critical section (where
- * lower priorities are masked). */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Configure the regions in the MPU that are common to all tasks. */
prvSetupMPU();
diff --git a/portable/GCC/ARM_CM55/non_secure/port.c b/portable/GCC/ARM_CM55/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM55/non_secure/port.c
+++ b/portable/GCC/ARM_CM55/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM55_NTZ/non_secure/port.c b/portable/GCC/ARM_CM55_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM55_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM55_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM7/r0p1/port.c b/portable/GCC/ARM_CM7/r0p1/port.c
index c22a359..3070445 100644
--- a/portable/GCC/ARM_CM7/r0p1/port.c
+++ b/portable/GCC/ARM_CM7/r0p1/port.c
@@ -38,10 +38,14 @@
#error This port can only be used when the project options are configured to enable hardware floating point support.
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
@@ -56,6 +60,11 @@
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -290,6 +299,40 @@
*/
BaseType_t xPortStartScheduler( void )
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -374,9 +417,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
diff --git a/portable/GCC/ARM_CM85/non_secure/port.c b/portable/GCC/ARM_CM85/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM85/non_secure/port.c
+++ b/portable/GCC/ARM_CM85/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/GCC/ARM_CM85_NTZ/non_secure/port.c b/portable/GCC/ARM_CM85_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/GCC/ARM_CM85_NTZ/non_secure/port.c
+++ b/portable/GCC/ARM_CM85_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM0/port.c b/portable/IAR/ARM_CM0/port.c
index f4d7712..1b9caa1 100644
--- a/portable/IAR/ARM_CM0/port.c
+++ b/portable/IAR/ARM_CM0/port.c
@@ -37,6 +37,9 @@
#include "FreeRTOS.h"
#include "task.h"
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@@ -53,6 +56,10 @@
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
@@ -121,6 +128,10 @@
*/
static void prvTaskExitError( void );
+/*
+ * FreeRTOS handlers implemented in assembly.
+ */
+extern void xPortPendSVHandler( void );
/*-----------------------------------------------------------*/
/*
@@ -168,6 +179,41 @@
*/
BaseType_t xPortStartScheduler( void )
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the function xPortPendSVHandler for PendSV
+ * interrupt.
+ * 2. Indirect Routing - Install separate handler for PendSV interrupt and
+ * route program control from that handler to xPortPendSVHandler function.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ /* Point pxVectorTable to the interrupt vector table. Systems without
+ * a VTOR register provide the value zero in the VTOR register and
+ * the vector table itself is located at the address 0x00000000. */
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handler for PendSV interrupt. We do not check the installation of the
+ * SysTick handler because the application may choose to drive the RTOS
+ * tick using a timer other than the SysTick timer by overriding the
+ * weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handler. For help installing the FreeRTOS handler, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
/* Make PendSV and SysTick the lowest priority interrupts. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
diff --git a/portable/IAR/ARM_CM0/portasm.s b/portable/IAR/ARM_CM0/portasm.s
index 768ce41..ede4921 100644
--- a/portable/IAR/ARM_CM0/portasm.s
+++ b/portable/IAR/ARM_CM0/portasm.s
@@ -91,15 +91,15 @@
vPortSVCHandler;
/* This function is no longer used, but retained for backward
- compatibility. */
+ * compatibility. */
bx lr
/*-----------------------------------------------------------*/
vPortStartFirstTask
- /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
- table offset register that can be used to locate the initial stack value.
- Not all M0 parts have the application vector table at address 0. */
+ /* Don't reset the MSP stack as is done on CM3/4 devices. The vector table
+ * in some CM0 devices cannot be modified and thus may not hold the
+ * application's initial MSP value. */
ldr r3, =pxCurrentTCB /* Obtain location of pxCurrentTCB. */
ldr r1, [r3]
diff --git a/portable/IAR/ARM_CM23/non_secure/port.c b/portable/IAR/ARM_CM23/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM23/non_secure/port.c
+++ b/portable/IAR/ARM_CM23/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM23_NTZ/non_secure/port.c b/portable/IAR/ARM_CM23_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM23_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM23_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM3/port.c b/portable/IAR/ARM_CM3/port.c
index 1fbe96d..4608268 100644
--- a/portable/IAR/ARM_CM3/port.c
+++ b/portable/IAR/ARM_CM3/port.c
@@ -41,10 +41,14 @@
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
@@ -59,6 +63,11 @@
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -121,6 +130,11 @@
*/
static void prvTaskExitError( void );
+/*
+ * FreeRTOS handlers implemented in assembly.
+ */
+extern void vPortSVCHandler( void );
+extern void xPortPendSVHandler( void );
/*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting
@@ -208,6 +222,40 @@
*/
BaseType_t xPortStartScheduler( void )
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -292,9 +340,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
diff --git a/portable/IAR/ARM_CM33/non_secure/port.c b/portable/IAR/ARM_CM33/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM33/non_secure/port.c
+++ b/portable/IAR/ARM_CM33/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM33_NTZ/non_secure/port.c b/portable/IAR/ARM_CM33_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM33_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM33_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM35P/non_secure/port.c b/portable/IAR/ARM_CM35P/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM35P/non_secure/port.c
+++ b/portable/IAR/ARM_CM35P/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c b/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM35P_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM4F/port.c b/portable/IAR/ARM_CM4F/port.c
index effedcb..763ff2a 100644
--- a/portable/IAR/ARM_CM4F/port.c
+++ b/portable/IAR/ARM_CM4F/port.c
@@ -45,10 +45,14 @@
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
@@ -69,6 +73,11 @@
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -141,6 +150,11 @@
*/
static void prvTaskExitError( void );
+/*
+ * FreeRTOS handlers implemented in assembly.
+ */
+extern void vPortSVCHandler( void );
+extern void xPortPendSVHandler( void );
/*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting
@@ -246,6 +260,40 @@
configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -330,9 +378,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
diff --git a/portable/IAR/ARM_CM4F_MPU/port.c b/portable/IAR/ARM_CM4F_MPU/port.c
index 4f0b617..c3bab26 100644
--- a/portable/IAR/ARM_CM4F_MPU/port.c
+++ b/portable/IAR/ARM_CM4F_MPU/port.c
@@ -69,6 +69,9 @@
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@@ -108,7 +111,11 @@
#define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
-#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )
+
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
@@ -282,6 +289,11 @@
*/
void vPortSwitchToUserMode( void );
+/*
+ * FreeRTOS handlers implemented in assembly.
+ */
+extern void vPortSVCHandler( void ) PRIVILEGED_FUNCTION;
+extern void xPortPendSVHandler( void ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting
@@ -384,7 +396,6 @@
switch( ucSVCNumber )
{
case portSVC_START_SCHEDULER:
- portNVIC_SHPR2_REG |= portNVIC_SVC_PRI;
vPortRestoreContextOfFirstTask();
break;
@@ -713,6 +724,40 @@
configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
#endif
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -797,9 +842,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Configure the regions in the MPU that are common to all tasks. */
prvSetupMPU();
diff --git a/portable/IAR/ARM_CM55/non_secure/port.c b/portable/IAR/ARM_CM55/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM55/non_secure/port.c
+++ b/portable/IAR/ARM_CM55/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM55_NTZ/non_secure/port.c b/portable/IAR/ARM_CM55_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM55_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM55_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM7/r0p1/port.c b/portable/IAR/ARM_CM7/r0p1/port.c
index 58129a4..2790028 100644
--- a/portable/IAR/ARM_CM7/r0p1/port.c
+++ b/portable/IAR/ARM_CM7/r0p1/port.c
@@ -45,10 +45,14 @@
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
@@ -63,6 +67,11 @@
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -135,6 +144,11 @@
*/
static void prvTaskExitError( void );
+/*
+ * FreeRTOS handlers implemented in assembly.
+ */
+extern void vPortSVCHandler( void );
+extern void xPortPendSVHandler( void );
/*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting
@@ -234,6 +248,40 @@
*/
BaseType_t xPortStartScheduler( void )
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -318,9 +366,11 @@
}
#endif /* configASSERT_DEFINED */
- /* Make PendSV and SysTick the lowest priority interrupts. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Start the timer that generates the tick ISR. Interrupts are disabled
* here already. */
diff --git a/portable/IAR/ARM_CM85/non_secure/port.c b/portable/IAR/ARM_CM85/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM85/non_secure/port.c
+++ b/portable/IAR/ARM_CM85/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/IAR/ARM_CM85_NTZ/non_secure/port.c b/portable/IAR/ARM_CM85_NTZ/non_secure/port.c
index 6a38778..a5ed700 100644
--- a/portable/IAR/ARM_CM85_NTZ/non_secure/port.c
+++ b/portable/IAR/ARM_CM85_NTZ/non_secure/port.c
@@ -81,6 +81,12 @@
/*-----------------------------------------------------------*/
/**
+ * @brief Prototype of all Interrupt Service Routines (ISRs).
+ */
+typedef void ( * portISR_t )( void );
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to manipulate the NVIC.
*/
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
@@ -101,11 +107,19 @@
/**
* @brief Constants required to manipulate the SCB.
*/
-#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
+ * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
+ */
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+/*-----------------------------------------------------------*/
+
+/**
* @brief Constants required to check the validity of an interrupt priority.
*/
#define portNVIC_SHPR2_REG ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
@@ -1598,22 +1612,52 @@
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
+ * for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * SVC_Handler and PendSV_Handler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
- volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API
- * functions can be called. ISR safe functions are those that end in
- * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
+ * functions can be called. ISR safe functions are those that end in
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
* ensure interrupt entry is as fast and simple as possible.
*
- * Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = portNVIC_SHPR2_REG;
-
- /* Determine the number of priority bits available. First write to all
- * possible bits. */
+ * First, determine the number of priority bits available. Write to all
+ * possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@@ -1636,7 +1680,6 @@
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
-
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@@ -1674,16 +1717,14 @@
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
-
- /* Restore the clobbered interrupt priority register to its original
- * value. */
- portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
- /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+ /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
+ * the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{
diff --git a/portable/RVDS/ARM_CM4_MPU/port.c b/portable/RVDS/ARM_CM4_MPU/port.c
index 566d4f7..af4ea63 100644
--- a/portable/RVDS/ARM_CM4_MPU/port.c
+++ b/portable/RVDS/ARM_CM4_MPU/port.c
@@ -51,6 +51,9 @@
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
#endif
+/* Prototype of all Interrupt Service Routines (ISRs). */
+typedef void ( * portISR_t )( void );
+
/* Constants required to access and manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
@@ -87,7 +90,6 @@
#define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
-#define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34UL ) /* Floating point context control register. */
@@ -99,6 +101,11 @@
#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 )
#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 )
+/* Constants used to check the installation of the FreeRTOS interrupt handlers. */
+#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xE000ED08 ) )
+#define portVECTOR_INDEX_SVC ( 11 )
+#define portVECTOR_INDEX_PENDSV ( 14 )
+
/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
@@ -386,7 +393,6 @@
switch( ucSVCNumber )
{
case portSVC_START_SCHEDULER:
- portNVIC_SHPR2_REG |= portNVIC_SVC_PRI;
prvRestoreContextOfFirstTask();
break;
@@ -822,6 +828,40 @@
configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
#endif
+ /* An application can install FreeRTOS interrupt handlers in one of the
+ * folllowing ways:
+ * 1. Direct Routing - Install the functions vPortSVCHandler and
+ * xPortPendSVHandler for SVCall and PendSV interrupts respectively.
+ * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
+ * interrupts and route program control from those handlers to
+ * vPortSVCHandler and xPortPendSVHandler functions.
+ *
+ * Applications that use Indirect Routing must set
+ * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
+ * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
+ * is 1, should be preferred when possible. */
+ #if ( configCHECK_HANDLER_INSTALLATION == 1 )
+ {
+ const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
+
+ /* Validate that the application has correctly installed the FreeRTOS
+ * handlers for SVCall and PendSV interrupts. We do not check the
+ * installation of the SysTick handler because the application may
+ * choose to drive the RTOS tick using a timer other than the SysTick
+ * timer by overriding the weak function vPortSetupTimerInterrupt().
+ *
+ * Assertion failures here indicate incorrect installation of the
+ * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
+ * https://www.FreeRTOS.org/FAQHelp.html.
+ *
+ * Systems with a configurable address for the interrupt vector table
+ * can also encounter assertion failures or even system faults here if
+ * VTOR is not set correctly to point to the application's vector table. */
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == vPortSVCHandler );
+ configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == xPortPendSVHandler );
+ }
+ #endif /* configCHECK_HANDLER_INSTALLATION */
+
#if ( configASSERT_DEFINED == 1 )
{
volatile uint8_t ucOriginalPriority;
@@ -907,10 +947,11 @@
#endif /* configASSERT_DEFINED */
/* Make PendSV and SysTick the same priority as the kernel, and the SVC
- * handler higher priority so it can be used to exit a critical section (where
- * lower priorities are masked). */
+ * handler highest priority so it can be used to exit a critical section
+ * (where lower priorities are masked). */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
+ portNVIC_SHPR2_REG = 0;
/* Configure the regions in the MPU that are common to all tasks. */
prvSetupMPU();
@@ -1196,6 +1237,7 @@
orr r1, r1, #( 0xf << 20 ) /* Enable CP10 and CP11 coprocessors, then save back. */
str r1, [ r0 ]
bx r14
+ nop
/* *INDENT-ON* */
}
/*-----------------------------------------------------------*/
