| /* | |
| * FreeRTOS Kernel V10.3.0 | |
| * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
| * | |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of | |
| * this software and associated documentation files (the "Software"), to deal in | |
| * the Software without restriction, including without limitation the rights to | |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
| * the Software, and to permit persons to whom the Software is furnished to do so, | |
| * subject to the following conditions: | |
| * | |
| * The above copyright notice and this permission notice shall be included in all | |
| * copies or substantial portions of the Software. | |
| * | |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
| * | |
| * http://www.FreeRTOS.org | |
| * http://aws.amazon.com/freertos | |
| * | |
| * 1 tab == 4 spaces! | |
| */ | |
| /* FreeRTOS includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* Demo includes. */ | |
| #include "tz_demo.h" | |
| #include "mpu_demo.h" | |
| /* Externs needed by the MPU setup code. These are defined in Scatter-Loading | |
| * description file (FreeRTOSDemo_ns.sct). */ | |
| extern uint32_t Image$$ER_IROM_NS_PRIVILEGED$$Base; | |
| extern uint32_t Image$$ER_IROM_NS_PRIVILEGED_ALIGN$$Limit; | |
| extern uint32_t Image$$ER_IROM_NS_FREERTOS_SYSTEM_CALLS$$Base; | |
| extern uint32_t Image$$ER_IROM_NS_FREERTOS_SYSTEM_CALLS_ALIGN$$Limit; | |
| extern uint32_t Image$$ER_IROM_NS_UNPRIVILEGED$$Base; | |
| extern uint32_t Image$$ER_IROM_NS_UNPRIVILEGED_ALIGN$$Limit; | |
| extern uint32_t Image$$ER_IRAM_NS_PRIVILEGED$$Base; | |
| extern uint32_t Image$$ER_IRAM_NS_PRIVILEGED_ALIGN$$Limit; | |
| extern uint32_t Image$$ER_IRAM_NS_UNPRIVILEGED$$Base; | |
| extern uint32_t Image$$ER_IRAM_NS_UNPRIVILEGED_ALIGN$$Limit; | |
| /* Privileged flash. */ | |
| const uint32_t * __privileged_functions_start__ = ( uint32_t * ) &( Image$$ER_IROM_NS_PRIVILEGED$$Base ); | |
| const uint32_t * __privileged_functions_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IROM_NS_PRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in privileged Flash region. */ | |
| /* Flash containing system calls. */ | |
| const uint32_t * __syscalls_flash_start__ = ( uint32_t * ) &( Image$$ER_IROM_NS_FREERTOS_SYSTEM_CALLS$$Base ); | |
| const uint32_t * __syscalls_flash_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IROM_NS_FREERTOS_SYSTEM_CALLS_ALIGN$$Limit ) - 0x1 ); /* Last address in Flash region containing system calls. */ | |
| /* Unprivileged flash. Note that the section containing system calls is | |
| * unprivileged so that unprivileged tasks can make system calls. */ | |
| const uint32_t * __unprivileged_flash_start__ = ( uint32_t * ) &( Image$$ER_IROM_NS_UNPRIVILEGED$$Base ); | |
| const uint32_t * __unprivileged_flash_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IROM_NS_UNPRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in un-privileged Flash region. */ | |
| /* RAM with priviledged access only. This contains kernel data. */ | |
| const uint32_t * __privileged_sram_start__ = ( uint32_t * ) &( Image$$ER_IRAM_NS_PRIVILEGED$$Base ); | |
| const uint32_t * __privileged_sram_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IRAM_NS_PRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in privileged RAM. */ | |
| /* Unprivileged RAM. */ | |
| const uint32_t * __unprivileged_sram_start__ = ( uint32_t * ) &( Image$$ER_IRAM_NS_UNPRIVILEGED$$Base ); | |
| const uint32_t * __unprivileged_sram_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IRAM_NS_UNPRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in un-privileged RAM. */ | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Create all demo tasks. | |
| */ | |
| static void prvCreateTasks( void ); | |
| /** | |
| * @brief The mem fault handler. | |
| * | |
| * It calls a function called vHandleMemoryFault. | |
| */ | |
| void MemManage_Handler( void ) __attribute__ ( ( naked ) ); | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Instructions to Build and Run: | |
| * - The Keil multi-project workspace FreeRTOSDemo.uvmpw contains projects for | |
| * both the secure project, and non secure project. | |
| * - Set the FreeRTOSDemo_s project as Active - Right click on | |
| * "Project: FreeRTOSDemo_s" and select "Set as Active Project". | |
| * - Build the FreeRTOSDemo_s project using "Project --> Build" or by pressing | |
| * "F7". | |
| * - Set the FreeRTOSDemo_ns project as Active - Right click on | |
| * "Project: FreeRTOSDemo_ns" and select "Set as Active Project". | |
| * - Build the FreeRTOSDemo_ns project using "Project --> Build" or by | |
| * pressing "F7". | |
| * - Start Debug Session using "Debug -> Start/Stop Debug Session" or by | |
| * pressing "Ctrl+F5". | |
| */ | |
| /* Non-Secure main. */ | |
| int main( void ) | |
| { | |
| /* Create tasks. */ | |
| prvCreateTasks(); | |
| /* Start scheduler. */ | |
| vTaskStartScheduler(); | |
| /* Should not reach here as the scheduler is already started. */ | |
| for( ; ; ) | |
| { | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvCreateTasks( void ) | |
| { | |
| /* Create tasks for the MPU Demo. */ | |
| vStartMPUDemo(); | |
| /* Create tasks for the TZ Demo. */ | |
| vStartTZDemo(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* Stack overflow hook. */ | |
| void vApplicationStackOverflowHook( TaskHandle_t xTask, signed char *pcTaskName ) | |
| { | |
| /* Force an assert. */ | |
| configASSERT( pcTaskName == 0 ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an | |
| * implementation of vApplicationGetIdleTaskMemory() to provide the memory that | |
| * is used by the Idle task. */ | |
| void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, | |
| StackType_t ** ppxIdleTaskStackBuffer, | |
| uint32_t * pulIdleTaskStackSize ) | |
| { | |
| /* If the buffers to be provided to the Idle task are declared inside this | |
| * function then they must be declared static - otherwise they will be | |
| * allocated on the stack and so not exists after this function exits. */ | |
| static StaticTask_t xIdleTaskTCB; | |
| static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__((aligned(32))); | |
| /* Pass out a pointer to the StaticTask_t structure in which the Idle | |
| * task's state will be stored. */ | |
| *ppxIdleTaskTCBBuffer = &xIdleTaskTCB; | |
| /* Pass out the array that will be used as the Idle task's stack. */ | |
| *ppxIdleTaskStackBuffer = uxIdleTaskStack; | |
| /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer. | |
| * Note that, as the array is necessarily of type StackType_t, | |
| * configMINIMAL_STACK_SIZE is specified in words, not bytes. */ | |
| *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the | |
| * application must provide an implementation of vApplicationGetTimerTaskMemory() | |
| * to provide the memory that is used by the Timer service task. */ | |
| void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, | |
| StackType_t ** ppxTimerTaskStackBuffer, | |
| uint32_t * pulTimerTaskStackSize ) | |
| { | |
| /* If the buffers to be provided to the Timer task are declared inside this | |
| * function then they must be declared static - otherwise they will be | |
| * allocated on the stack and so not exists after this function exits. */ | |
| static StaticTask_t xTimerTaskTCB; | |
| static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ] __attribute__((aligned(32))); | |
| /* Pass out a pointer to the StaticTask_t structure in which the Timer | |
| * task's state will be stored. */ | |
| *ppxTimerTaskTCBBuffer = &xTimerTaskTCB; | |
| /* Pass out the array that will be used as the Timer task's stack. */ | |
| *ppxTimerTaskStackBuffer = uxTimerTaskStack; | |
| /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer. | |
| * Note that, as the array is necessarily of type StackType_t, | |
| * configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */ | |
| *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void MemManage_Handler( void ) | |
| { | |
| __asm volatile | |
| ( | |
| " tst lr, #4 \n" | |
| " ite eq \n" | |
| " mrseq r0, msp \n" | |
| " mrsne r0, psp \n" | |
| " ldr r1, handler_address_const \n" | |
| " bx r1 \n" | |
| " \n" | |
| " handler_address_const: .word vHandleMemoryFault \n" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ |