| /* | |
| * FreeRTOS Kernel <DEVELOPMENT BRANCH> | |
| * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
| * | |
| * SPDX-License-Identifier: MIT | |
| * | |
| * 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. | |
| * | |
| * https://www.FreeRTOS.org | |
| * https://github.com/FreeRTOS | |
| * | |
| */ | |
| /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining | |
| * all the API functions to use the MPU wrappers. That should only be done when | |
| * task.h is included from an application file. */ | |
| #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* MPU wrappers includes. */ | |
| #include "mpu_wrappers.h" | |
| /* Portasm includes. */ | |
| #include "portasm.h" | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| /* Secure components includes. */ | |
| #include "secure_context.h" | |
| #include "secure_init.h" | |
| #endif /* configENABLE_TRUSTZONE */ | |
| #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
| /** | |
| * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only | |
| * i.e. the processor boots as secure and never jumps to the non-secure side. | |
| * The Trust Zone support in the port must be disabled in order to run FreeRTOS | |
| * on the secure side. The following are the valid configuration seetings: | |
| * | |
| * 1. Run FreeRTOS on the Secure Side: | |
| * configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0 | |
| * | |
| * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support: | |
| * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1 | |
| * | |
| * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support: | |
| * configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0 | |
| */ | |
| #if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) ) | |
| #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side. | |
| #endif | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Constants required to manipulate the NVIC. | |
| */ | |
| #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_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) | |
| #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) | |
| #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) | |
| #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) | |
| #define portMIN_INTERRUPT_PRIORITY ( 255UL ) | |
| #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) | |
| #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) | |
| #ifndef configSYSTICK_CLOCK_HZ | |
| #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ | |
| /* Ensure the SysTick is clocked at the same frequency as the core. */ | |
| #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) | |
| #else | |
| /* The way the SysTick is clocked is not modified in case it is not the | |
| * same a the core. */ | |
| #define portNVIC_SYSTICK_CLK_BIT ( 0 ) | |
| #endif | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Constants required to manipulate the SCB. | |
| */ | |
| #define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 ) | |
| #define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL ) | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Constants required to manipulate the FPU. | |
| */ | |
| #define portCPACR ( ( volatile uint32_t * ) 0xe000ed88 ) /* Coprocessor Access Control Register. */ | |
| #define portCPACR_CP10_VALUE ( 3UL ) | |
| #define portCPACR_CP11_VALUE portCPACR_CP10_VALUE | |
| #define portCPACR_CP10_POS ( 20UL ) | |
| #define portCPACR_CP11_POS ( 22UL ) | |
| #define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ | |
| #define portFPCCR_ASPEN_POS ( 31UL ) | |
| #define portFPCCR_ASPEN_MASK ( 1UL << portFPCCR_ASPEN_POS ) | |
| #define portFPCCR_LSPEN_POS ( 30UL ) | |
| #define portFPCCR_LSPEN_MASK ( 1UL << portFPCCR_LSPEN_POS ) | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Constants required to manipulate the MPU. | |
| */ | |
| #define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) | |
| #define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) | |
| #define portMPU_RNR_REG ( *( ( volatile uint32_t * ) 0xe000ed98 ) ) | |
| #define portMPU_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) | |
| #define portMPU_RLAR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) | |
| #define portMPU_RBAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda4 ) ) | |
| #define portMPU_RLAR_A1_REG ( *( ( volatile uint32_t * ) 0xe000eda8 ) ) | |
| #define portMPU_RBAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edac ) ) | |
| #define portMPU_RLAR_A2_REG ( *( ( volatile uint32_t * ) 0xe000edb0 ) ) | |
| #define portMPU_RBAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb4 ) ) | |
| #define portMPU_RLAR_A3_REG ( *( ( volatile uint32_t * ) 0xe000edb8 ) ) | |
| #define portMPU_MAIR0_REG ( *( ( volatile uint32_t * ) 0xe000edc0 ) ) | |
| #define portMPU_MAIR1_REG ( *( ( volatile uint32_t * ) 0xe000edc4 ) ) | |
| #define portMPU_RBAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ | |
| #define portMPU_RLAR_ADDRESS_MASK ( 0xffffffe0 ) /* Must be 32-byte aligned. */ | |
| #define portMPU_MAIR_ATTR0_POS ( 0UL ) | |
| #define portMPU_MAIR_ATTR0_MASK ( 0x000000ff ) | |
| #define portMPU_MAIR_ATTR1_POS ( 8UL ) | |
| #define portMPU_MAIR_ATTR1_MASK ( 0x0000ff00 ) | |
| #define portMPU_MAIR_ATTR2_POS ( 16UL ) | |
| #define portMPU_MAIR_ATTR2_MASK ( 0x00ff0000 ) | |
| #define portMPU_MAIR_ATTR3_POS ( 24UL ) | |
| #define portMPU_MAIR_ATTR3_MASK ( 0xff000000 ) | |
| #define portMPU_MAIR_ATTR4_POS ( 0UL ) | |
| #define portMPU_MAIR_ATTR4_MASK ( 0x000000ff ) | |
| #define portMPU_MAIR_ATTR5_POS ( 8UL ) | |
| #define portMPU_MAIR_ATTR5_MASK ( 0x0000ff00 ) | |
| #define portMPU_MAIR_ATTR6_POS ( 16UL ) | |
| #define portMPU_MAIR_ATTR6_MASK ( 0x00ff0000 ) | |
| #define portMPU_MAIR_ATTR7_POS ( 24UL ) | |
| #define portMPU_MAIR_ATTR7_MASK ( 0xff000000 ) | |
| #define portMPU_RLAR_ATTR_INDEX0 ( 0UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX1 ( 1UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX2 ( 2UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX3 ( 3UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX4 ( 4UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX5 ( 5UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX6 ( 6UL << 1UL ) | |
| #define portMPU_RLAR_ATTR_INDEX7 ( 7UL << 1UL ) | |
| #define portMPU_RLAR_REGION_ENABLE ( 1UL ) | |
| /* Enable privileged access to unmapped region. */ | |
| #define portMPU_PRIV_BACKGROUND_ENABLE_BIT ( 1UL << 2UL ) | |
| /* Enable MPU. */ | |
| #define portMPU_ENABLE_BIT ( 1UL << 0UL ) | |
| /* Expected value of the portMPU_TYPE register. */ | |
| #define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief The maximum 24-bit number. | |
| * | |
| * It is needed because the systick is a 24-bit counter. | |
| */ | |
| #define portMAX_24_BIT_NUMBER ( 0xffffffUL ) | |
| /** | |
| * @brief A fiddle factor to estimate the number of SysTick counts that would | |
| * have occurred while the SysTick counter is stopped during tickless idle | |
| * calculations. | |
| */ | |
| #define portMISSED_COUNTS_FACTOR ( 45UL ) | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Constants required to set up the initial stack. | |
| */ | |
| #define portINITIAL_XPSR ( 0x01000000 ) | |
| #if ( configRUN_FREERTOS_SECURE_ONLY == 1 ) | |
| /** | |
| * @brief Initial EXC_RETURN value. | |
| * | |
| * FF FF FF FD | |
| * 1111 1111 1111 1111 1111 1111 1111 1101 | |
| * | |
| * Bit[6] - 1 --> The exception was taken from the Secure state. | |
| * Bit[5] - 1 --> Do not skip stacking of additional state context. | |
| * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. | |
| * Bit[3] - 1 --> Return to the Thread mode. | |
| * Bit[2] - 1 --> Restore registers from the process stack. | |
| * Bit[1] - 0 --> Reserved, 0. | |
| * Bit[0] - 1 --> The exception was taken to the Secure state. | |
| */ | |
| #define portINITIAL_EXC_RETURN ( 0xfffffffd ) | |
| #else | |
| /** | |
| * @brief Initial EXC_RETURN value. | |
| * | |
| * FF FF FF BC | |
| * 1111 1111 1111 1111 1111 1111 1011 1100 | |
| * | |
| * Bit[6] - 0 --> The exception was taken from the Non-Secure state. | |
| * Bit[5] - 1 --> Do not skip stacking of additional state context. | |
| * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context. | |
| * Bit[3] - 1 --> Return to the Thread mode. | |
| * Bit[2] - 1 --> Restore registers from the process stack. | |
| * Bit[1] - 0 --> Reserved, 0. | |
| * Bit[0] - 0 --> The exception was taken to the Non-Secure state. | |
| */ | |
| #define portINITIAL_EXC_RETURN ( 0xffffffbc ) | |
| #endif /* configRUN_FREERTOS_SECURE_ONLY */ | |
| /** | |
| * @brief CONTROL register privileged bit mask. | |
| * | |
| * Bit[0] in CONTROL register tells the privilege: | |
| * Bit[0] = 0 ==> The task is privileged. | |
| * Bit[0] = 1 ==> The task is not privileged. | |
| */ | |
| #define portCONTROL_PRIVILEGED_MASK ( 1UL << 0UL ) | |
| /** | |
| * @brief Initial CONTROL register values. | |
| */ | |
| #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) | |
| #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) | |
| /** | |
| * @brief Let the user override the pre-loading of the initial LR with the | |
| * address of prvTaskExitError() in case it messes up unwinding of the stack | |
| * in the debugger. | |
| */ | |
| #ifdef configTASK_RETURN_ADDRESS | |
| #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS | |
| #else | |
| #define portTASK_RETURN_ADDRESS prvTaskExitError | |
| #endif | |
| /** | |
| * @brief If portPRELOAD_REGISTERS then registers will be given an initial value | |
| * when a task is created. This helps in debugging at the cost of code size. | |
| */ | |
| #define portPRELOAD_REGISTERS 1 | |
| /** | |
| * @brief A task is created without a secure context, and must call | |
| * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes | |
| * any secure calls. | |
| */ | |
| #define portNO_SECURE_CONTEXT 0 | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Used to catch tasks that attempt to return from their implementing | |
| * function. | |
| */ | |
| static void prvTaskExitError( void ); | |
| #if ( configENABLE_MPU == 1 ) | |
| /** | |
| * @brief Setup the Memory Protection Unit (MPU). | |
| */ | |
| static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; | |
| #endif /* configENABLE_MPU */ | |
| #if ( configENABLE_FPU == 1 ) | |
| /** | |
| * @brief Setup the Floating Point Unit (FPU). | |
| */ | |
| static void prvSetupFPU( void ) PRIVILEGED_FUNCTION; | |
| #endif /* configENABLE_FPU */ | |
| /** | |
| * @brief Setup the timer to generate the tick interrupts. | |
| * | |
| * The implementation in this file is weak to allow application writers to | |
| * change the timer used to generate the tick interrupt. | |
| */ | |
| void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION; | |
| /** | |
| * @brief Checks whether the current execution context is interrupt. | |
| * | |
| * @return pdTRUE if the current execution context is interrupt, pdFALSE | |
| * otherwise. | |
| */ | |
| BaseType_t xPortIsInsideInterrupt( void ); | |
| /** | |
| * @brief Yield the processor. | |
| */ | |
| void vPortYield( void ) PRIVILEGED_FUNCTION; | |
| /** | |
| * @brief Enter critical section. | |
| */ | |
| void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; | |
| /** | |
| * @brief Exit from critical section. | |
| */ | |
| void vPortExitCritical( void ) PRIVILEGED_FUNCTION; | |
| /** | |
| * @brief SysTick handler. | |
| */ | |
| void SysTick_Handler( void ) PRIVILEGED_FUNCTION; | |
| /** | |
| * @brief C part of SVC handler. | |
| */ | |
| portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION; | |
| /*-----------------------------------------------------------*/ | |
| /** | |
| * @brief Each task maintains its own interrupt status in the critical nesting | |
| * variable. | |
| */ | |
| PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| /** | |
| * @brief Saved as part of the task context to indicate which context the | |
| * task is using on the secure side. | |
| */ | |
| PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT; | |
| #endif /* configENABLE_TRUSTZONE */ | |
| #if ( configUSE_TICKLESS_IDLE == 1 ) | |
| /** | |
| * @brief The number of SysTick increments that make up one tick period. | |
| */ | |
| PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0; | |
| /** | |
| * @brief The maximum number of tick periods that can be suppressed is | |
| * limited by the 24 bit resolution of the SysTick timer. | |
| */ | |
| PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0; | |
| /** | |
| * @brief Compensate for the CPU cycles that pass while the SysTick is | |
| * stopped (low power functionality only). | |
| */ | |
| PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0; | |
| #endif /* configUSE_TICKLESS_IDLE */ | |
| /*-----------------------------------------------------------*/ | |
| #if ( configUSE_TICKLESS_IDLE == 1 ) | |
| __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) | |
| { | |
| uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; | |
| TickType_t xModifiableIdleTime; | |
| /* Make sure the SysTick reload value does not overflow the counter. */ | |
| if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) | |
| { | |
| xExpectedIdleTime = xMaximumPossibleSuppressedTicks; | |
| } | |
| /* Stop the SysTick momentarily. The time the SysTick is stopped for is | |
| * accounted for as best it can be, but using the tickless mode will | |
| * inevitably result in some tiny drift of the time maintained by the | |
| * kernel with respect to calendar time. */ | |
| portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; | |
| /* Calculate the reload value required to wait xExpectedIdleTime | |
| * tick periods. -1 is used because this code will execute part way | |
| * through one of the tick periods. */ | |
| ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); | |
| if( ulReloadValue > ulStoppedTimerCompensation ) | |
| { | |
| ulReloadValue -= ulStoppedTimerCompensation; | |
| } | |
| /* Enter a critical section but don't use the taskENTER_CRITICAL() | |
| * method as that will mask interrupts that should exit sleep mode. */ | |
| __asm volatile ( "cpsid i" ::: "memory" ); | |
| __asm volatile ( "dsb" ); | |
| __asm volatile ( "isb" ); | |
| /* If a context switch is pending or a task is waiting for the scheduler | |
| * to be un-suspended then abandon the low power entry. */ | |
| if( eTaskConfirmSleepModeStatus() == eAbortSleep ) | |
| { | |
| /* Restart from whatever is left in the count register to complete | |
| * this tick period. */ | |
| portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; | |
| /* Restart SysTick. */ | |
| portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; | |
| /* Reset the reload register to the value required for normal tick | |
| * periods. */ | |
| portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; | |
| /* Re-enable interrupts - see comments above the cpsid instruction() | |
| * above. */ | |
| __asm volatile ( "cpsie i" ::: "memory" ); | |
| } | |
| else | |
| { | |
| /* Set the new reload value. */ | |
| portNVIC_SYSTICK_LOAD_REG = ulReloadValue; | |
| /* Clear the SysTick count flag and set the count value back to | |
| * zero. */ | |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; | |
| /* Restart SysTick. */ | |
| portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; | |
| /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can | |
| * set its parameter to 0 to indicate that its implementation | |
| * contains its own wait for interrupt or wait for event | |
| * instruction, and so wfi should not be executed again. However, | |
| * the original expected idle time variable must remain unmodified, | |
| * so a copy is taken. */ | |
| xModifiableIdleTime = xExpectedIdleTime; | |
| configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); | |
| if( xModifiableIdleTime > 0 ) | |
| { | |
| __asm volatile ( "dsb" ::: "memory" ); | |
| __asm volatile ( "wfi" ); | |
| __asm volatile ( "isb" ); | |
| } | |
| configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); | |
| /* Re-enable interrupts to allow the interrupt that brought the MCU | |
| * out of sleep mode to execute immediately. See comments above | |
| * the cpsid instruction above. */ | |
| __asm volatile ( "cpsie i" ::: "memory" ); | |
| __asm volatile ( "dsb" ); | |
| __asm volatile ( "isb" ); | |
| /* Disable interrupts again because the clock is about to be stopped | |
| * and interrupts that execute while the clock is stopped will | |
| * increase any slippage between the time maintained by the RTOS and | |
| * calendar time. */ | |
| __asm volatile ( "cpsid i" ::: "memory" ); | |
| __asm volatile ( "dsb" ); | |
| __asm volatile ( "isb" ); | |
| /* Disable the SysTick clock without reading the | |
| * portNVIC_SYSTICK_CTRL_REG register to ensure the | |
| * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. | |
| * Again, the time the SysTick is stopped for is accounted for as | |
| * best it can be, but using the tickless mode will inevitably | |
| * result in some tiny drift of the time maintained by the kernel | |
| * with respect to calendar time*/ | |
| portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); | |
| /* Determine if the SysTick clock has already counted to zero and | |
| * been set back to the current reload value (the reload back being | |
| * correct for the entire expected idle time) or if the SysTick is | |
| * yet to count to zero (in which case an interrupt other than the | |
| * SysTick must have brought the system out of sleep mode). */ | |
| if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) | |
| { | |
| uint32_t ulCalculatedLoadValue; | |
| /* The tick interrupt is already pending, and the SysTick count | |
| * reloaded with ulReloadValue. Reset the | |
| * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick | |
| * period. */ | |
| ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); | |
| /* Don't allow a tiny value, or values that have somehow | |
| * underflowed because the post sleep hook did something | |
| * that took too long. */ | |
| if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) | |
| { | |
| ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); | |
| } | |
| portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; | |
| /* As the pending tick will be processed as soon as this | |
| * function exits, the tick value maintained by the tick is | |
| * stepped forward by one less than the time spent waiting. */ | |
| ulCompleteTickPeriods = xExpectedIdleTime - 1UL; | |
| } | |
| else | |
| { | |
| /* Something other than the tick interrupt ended the sleep. | |
| * Work out how long the sleep lasted rounded to complete tick | |
| * periods (not the ulReload value which accounted for part | |
| * ticks). */ | |
| ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; | |
| /* How many complete tick periods passed while the processor | |
| * was waiting? */ | |
| ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; | |
| /* The reload value is set to whatever fraction of a single tick | |
| * period remains. */ | |
| portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; | |
| } | |
| /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG | |
| * again, then set portNVIC_SYSTICK_LOAD_REG back to its standard | |
| * value. */ | |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; | |
| portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; | |
| vTaskStepTick( ulCompleteTickPeriods ); | |
| portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; | |
| /* Exit with interrupts enabled. */ | |
| __asm volatile ( "cpsie i" ::: "memory" ); | |
| } | |
| } | |
| #endif /* configUSE_TICKLESS_IDLE */ | |
| /*-----------------------------------------------------------*/ | |
| __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| /* Calculate the constants required to configure the tick interrupt. */ | |
| #if ( configUSE_TICKLESS_IDLE == 1 ) | |
| { | |
| ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); | |
| xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; | |
| ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); | |
| } | |
| #endif /* configUSE_TICKLESS_IDLE */ | |
| /* Stop and reset the SysTick. */ | |
| portNVIC_SYSTICK_CTRL_REG = 0UL; | |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; | |
| /* Configure SysTick to interrupt at the requested rate. */ | |
| portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; | |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvTaskExitError( void ) | |
| { | |
| volatile uint32_t ulDummy = 0UL; | |
| /* A function that implements a task must not exit or attempt to return to | |
| * its caller as there is nothing to return to. If a task wants to exit it | |
| * should instead call vTaskDelete( NULL ). Artificially force an assert() | |
| * to be triggered if configASSERT() is defined, then stop here so | |
| * application writers can catch the error. */ | |
| configASSERT( ulCriticalNesting == ~0UL ); | |
| portDISABLE_INTERRUPTS(); | |
| while( ulDummy == 0 ) | |
| { | |
| /* This file calls prvTaskExitError() after the scheduler has been | |
| * started to remove a compiler warning about the function being | |
| * defined but never called. ulDummy is used purely to quieten other | |
| * warnings about code appearing after this function is called - making | |
| * ulDummy volatile makes the compiler think the function could return | |
| * and therefore not output an 'unreachable code' warning for code that | |
| * appears after it. */ | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| #if ( configENABLE_MPU == 1 ) | |
| static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| #if defined( __ARMCC_VERSION ) | |
| /* Declaration when these variable are defined in code instead of being | |
| * exported from linker scripts. */ | |
| extern uint32_t * __privileged_functions_start__; | |
| extern uint32_t * __privileged_functions_end__; | |
| extern uint32_t * __syscalls_flash_start__; | |
| extern uint32_t * __syscalls_flash_end__; | |
| extern uint32_t * __unprivileged_flash_start__; | |
| extern uint32_t * __unprivileged_flash_end__; | |
| extern uint32_t * __privileged_sram_start__; | |
| extern uint32_t * __privileged_sram_end__; | |
| #else /* if defined( __ARMCC_VERSION ) */ | |
| /* Declaration when these variable are exported from linker scripts. */ | |
| extern uint32_t __privileged_functions_start__[]; | |
| extern uint32_t __privileged_functions_end__[]; | |
| extern uint32_t __syscalls_flash_start__[]; | |
| extern uint32_t __syscalls_flash_end__[]; | |
| extern uint32_t __unprivileged_flash_start__[]; | |
| extern uint32_t __unprivileged_flash_end__[]; | |
| extern uint32_t __privileged_sram_start__[]; | |
| extern uint32_t __privileged_sram_end__[]; | |
| #endif /* defined( __ARMCC_VERSION ) */ | |
| /* Check that the MPU is present. */ | |
| if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) | |
| { | |
| /* MAIR0 - Index 0. */ | |
| portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); | |
| /* MAIR0 - Index 1. */ | |
| portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); | |
| /* Setup privileged flash as Read Only so that privileged tasks can | |
| * read it but not modify. */ | |
| portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION; | |
| portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | | |
| ( portMPU_REGION_NON_SHAREABLE ) | | |
| ( portMPU_REGION_PRIVILEGED_READ_ONLY ); | |
| portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | | |
| ( portMPU_RLAR_ATTR_INDEX0 ) | | |
| ( portMPU_RLAR_REGION_ENABLE ); | |
| /* Setup unprivileged flash as Read Only by both privileged and | |
| * unprivileged tasks. All tasks can read it but no-one can modify. */ | |
| portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION; | |
| portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | | |
| ( portMPU_REGION_NON_SHAREABLE ) | | |
| ( portMPU_REGION_READ_ONLY ); | |
| portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | | |
| ( portMPU_RLAR_ATTR_INDEX0 ) | | |
| ( portMPU_RLAR_REGION_ENABLE ); | |
| /* Setup unprivileged syscalls flash as Read Only by both privileged | |
| * and unprivileged tasks. All tasks can read it but no-one can modify. */ | |
| portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION; | |
| portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | | |
| ( portMPU_REGION_NON_SHAREABLE ) | | |
| ( portMPU_REGION_READ_ONLY ); | |
| portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | | |
| ( portMPU_RLAR_ATTR_INDEX0 ) | | |
| ( portMPU_RLAR_REGION_ENABLE ); | |
| /* Setup RAM containing kernel data for privileged access only. */ | |
| portMPU_RNR_REG = portPRIVILEGED_RAM_REGION; | |
| portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) | | |
| ( portMPU_REGION_NON_SHAREABLE ) | | |
| ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | | |
| ( portMPU_REGION_EXECUTE_NEVER ); | |
| portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) | | |
| ( portMPU_RLAR_ATTR_INDEX0 ) | | |
| ( portMPU_RLAR_REGION_ENABLE ); | |
| /* Enable mem fault. */ | |
| portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT; | |
| /* Enable MPU with privileged background access i.e. unmapped | |
| * regions have privileged access. */ | |
| portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT ); | |
| } | |
| } | |
| #endif /* configENABLE_MPU */ | |
| /*-----------------------------------------------------------*/ | |
| #if ( configENABLE_FPU == 1 ) | |
| static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| { | |
| /* Enable non-secure access to the FPU. */ | |
| SecureInit_EnableNSFPUAccess(); | |
| } | |
| #endif /* configENABLE_TRUSTZONE */ | |
| /* CP10 = 11 ==> Full access to FPU i.e. both privileged and | |
| * unprivileged code should be able to access FPU. CP11 should be | |
| * programmed to the same value as CP10. */ | |
| *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) | | |
| ( portCPACR_CP11_VALUE << portCPACR_CP11_POS ) | |
| ); | |
| /* ASPEN = 1 ==> Hardware should automatically preserve floating point | |
| * context on exception entry and restore on exception return. | |
| * LSPEN = 1 ==> Enable lazy context save of FP state. */ | |
| *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK ); | |
| } | |
| #endif /* configENABLE_FPU */ | |
| /*-----------------------------------------------------------*/ | |
| void vPortYield( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| /* Set a PendSV to request a context switch. */ | |
| portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; | |
| /* Barriers are normally not required but do ensure the code is | |
| * completely within the specified behaviour for the architecture. */ | |
| __asm volatile ( "dsb" ::: "memory" ); | |
| __asm volatile ( "isb" ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| portDISABLE_INTERRUPTS(); | |
| ulCriticalNesting++; | |
| /* Barriers are normally not required but do ensure the code is | |
| * completely within the specified behaviour for the architecture. */ | |
| __asm volatile ( "dsb" ::: "memory" ); | |
| __asm volatile ( "isb" ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| configASSERT( ulCriticalNesting ); | |
| ulCriticalNesting--; | |
| if( ulCriticalNesting == 0 ) | |
| { | |
| portENABLE_INTERRUPTS(); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| uint32_t ulPreviousMask; | |
| ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
| { | |
| /* Increment the RTOS tick. */ | |
| if( xTaskIncrementTick() != pdFALSE ) | |
| { | |
| /* Pend a context switch. */ | |
| portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; | |
| } | |
| } | |
| portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ | |
| { | |
| #if ( configENABLE_MPU == 1 ) | |
| #if defined( __ARMCC_VERSION ) | |
| /* Declaration when these variable are defined in code instead of being | |
| * exported from linker scripts. */ | |
| extern uint32_t * __syscalls_flash_start__; | |
| extern uint32_t * __syscalls_flash_end__; | |
| #else | |
| /* Declaration when these variable are exported from linker scripts. */ | |
| extern uint32_t __syscalls_flash_start__[]; | |
| extern uint32_t __syscalls_flash_end__[]; | |
| #endif /* defined( __ARMCC_VERSION ) */ | |
| #endif /* configENABLE_MPU */ | |
| uint32_t ulPC; | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| uint32_t ulR0, ulR1; | |
| extern TaskHandle_t pxCurrentTCB; | |
| #if ( configENABLE_MPU == 1 ) | |
| uint32_t ulControl, ulIsTaskPrivileged; | |
| #endif /* configENABLE_MPU */ | |
| #endif /* configENABLE_TRUSTZONE */ | |
| uint8_t ucSVCNumber; | |
| /* Register are stored on the stack in the following order - R0, R1, R2, R3, | |
| * R12, LR, PC, xPSR. */ | |
| ulPC = pulCallerStackAddress[ 6 ]; | |
| ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; | |
| switch( ucSVCNumber ) | |
| { | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| case portSVC_ALLOCATE_SECURE_CONTEXT: | |
| /* R0 contains the stack size passed as parameter to the | |
| * vPortAllocateSecureContext function. */ | |
| ulR0 = pulCallerStackAddress[ 0 ]; | |
| #if ( configENABLE_MPU == 1 ) | |
| { | |
| /* Read the CONTROL register value. */ | |
| __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); | |
| /* The task that raised the SVC is privileged if Bit[0] | |
| * in the CONTROL register is 0. */ | |
| ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); | |
| /* Allocate and load a context for the secure task. */ | |
| xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); | |
| } | |
| #else /* if ( configENABLE_MPU == 1 ) */ | |
| { | |
| /* Allocate and load a context for the secure task. */ | |
| xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); | |
| } | |
| #endif /* configENABLE_MPU */ | |
| configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); | |
| SecureContext_LoadContext( xSecureContext, pxCurrentTCB ); | |
| break; | |
| case portSVC_FREE_SECURE_CONTEXT: | |
| /* R0 contains TCB being freed and R1 contains the secure | |
| * context handle to be freed. */ | |
| ulR0 = pulCallerStackAddress[ 0 ]; | |
| ulR1 = pulCallerStackAddress[ 1 ]; | |
| /* Free the secure context. */ | |
| SecureContext_FreeContext( ( SecureContextHandle_t ) ulR1, ( void * ) ulR0 ); | |
| break; | |
| #endif /* configENABLE_TRUSTZONE */ | |
| case portSVC_START_SCHEDULER: | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| { | |
| /* De-prioritize the non-secure exceptions so that the | |
| * non-secure pendSV runs at the lowest priority. */ | |
| SecureInit_DePrioritizeNSExceptions(); | |
| /* Initialize the secure context management system. */ | |
| SecureContext_Init(); | |
| } | |
| #endif /* configENABLE_TRUSTZONE */ | |
| #if ( configENABLE_FPU == 1 ) | |
| { | |
| /* Setup the Floating Point Unit (FPU). */ | |
| prvSetupFPU(); | |
| } | |
| #endif /* configENABLE_FPU */ | |
| /* Setup the context of the first task so that the first task starts | |
| * executing. */ | |
| vRestoreContextOfFirstTask(); | |
| break; | |
| #if ( configENABLE_MPU == 1 ) | |
| case portSVC_RAISE_PRIVILEGE: | |
| /* Only raise the privilege, if the svc was raised from any of | |
| * the system calls. */ | |
| if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) && | |
| ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) ) | |
| { | |
| vRaisePrivilege(); | |
| } | |
| break; | |
| #endif /* configENABLE_MPU */ | |
| default: | |
| /* Incorrect SVC call. */ | |
| configASSERT( pdFALSE ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* *INDENT-OFF* */ | |
| #if ( configENABLE_MPU == 1 ) | |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, | |
| StackType_t * pxEndOfStack, | |
| TaskFunction_t pxCode, | |
| void * pvParameters, | |
| BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */ | |
| #else | |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, | |
| StackType_t * pxEndOfStack, | |
| TaskFunction_t pxCode, | |
| void * pvParameters ) /* PRIVILEGED_FUNCTION */ | |
| #endif /* configENABLE_MPU */ | |
| /* *INDENT-ON* */ | |
| { | |
| /* Simulate the stack frame as it would be created by a context switch | |
| * interrupt. */ | |
| #if ( portPRELOAD_REGISTERS == 0 ) | |
| { | |
| pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ | |
| *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ | |
| pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ | |
| *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ | |
| pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */ | |
| *pxTopOfStack = portINITIAL_EXC_RETURN; | |
| #if ( configENABLE_MPU == 1 ) | |
| { | |
| pxTopOfStack--; | |
| if( xRunPrivileged == pdTRUE ) | |
| { | |
| *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ | |
| } | |
| else | |
| { | |
| *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ | |
| } | |
| } | |
| #endif /* configENABLE_MPU */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| { | |
| pxTopOfStack--; | |
| *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ | |
| } | |
| #endif /* configENABLE_TRUSTZONE */ | |
| } | |
| #else /* portPRELOAD_REGISTERS */ | |
| { | |
| pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ | |
| *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) pxCode; /* PC */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */ | |
| #if ( configENABLE_MPU == 1 ) | |
| { | |
| pxTopOfStack--; | |
| if( xRunPrivileged == pdTRUE ) | |
| { | |
| *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ | |
| } | |
| else | |
| { | |
| *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */ | |
| } | |
| } | |
| #endif /* configENABLE_MPU */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */ | |
| #if ( configENABLE_TRUSTZONE == 1 ) | |
| { | |
| pxTopOfStack--; | |
| *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */ | |
| } | |
| #endif /* configENABLE_TRUSTZONE */ | |
| } | |
| #endif /* portPRELOAD_REGISTERS */ | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| /* Make PendSV, CallSV and SysTick the same priority as the kernel. */ | |
| portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; | |
| portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; | |
| #if ( configENABLE_MPU == 1 ) | |
| { | |
| /* Setup the Memory Protection Unit (MPU). */ | |
| prvSetupMPU(); | |
| } | |
| #endif /* configENABLE_MPU */ | |
| /* Start the timer that generates the tick ISR. Interrupts are disabled | |
| * here already. */ | |
| vPortSetupTimerInterrupt(); | |
| /* Initialize the critical nesting count ready for the first task. */ | |
| ulCriticalNesting = 0; | |
| /* Start the first task. */ | |
| vStartFirstTask(); | |
| /* Should never get here as the tasks will now be executing. Call the task | |
| * exit error function to prevent compiler warnings about a static function | |
| * not being called in the case that the application writer overrides this | |
| * functionality by defining configTASK_RETURN_ADDRESS. Call | |
| * vTaskSwitchContext() so link time optimization does not remove the | |
| * symbol. */ | |
| vTaskSwitchContext(); | |
| prvTaskExitError(); | |
| /* Should not get here. */ | |
| return 0; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */ | |
| { | |
| /* Not implemented in ports where there is nothing to return to. | |
| * Artificially force an assert. */ | |
| configASSERT( ulCriticalNesting == 1000UL ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| #if ( configENABLE_MPU == 1 ) | |
| void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, | |
| const struct xMEMORY_REGION * const xRegions, | |
| StackType_t * pxBottomOfStack, | |
| uint32_t ulStackDepth ) | |
| { | |
| uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber; | |
| int32_t lIndex = 0; | |
| #if defined( __ARMCC_VERSION ) | |
| /* Declaration when these variable are defined in code instead of being | |
| * exported from linker scripts. */ | |
| extern uint32_t * __privileged_sram_start__; | |
| extern uint32_t * __privileged_sram_end__; | |
| #else | |
| /* Declaration when these variable are exported from linker scripts. */ | |
| extern uint32_t __privileged_sram_start__[]; | |
| extern uint32_t __privileged_sram_end__[]; | |
| #endif /* defined( __ARMCC_VERSION ) */ | |
| /* Setup MAIR0. */ | |
| xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK ); | |
| xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK ); | |
| /* This function is called automatically when the task is created - in | |
| * which case the stack region parameters will be valid. At all other | |
| * times the stack parameters will not be valid and it is assumed that | |
| * the stack region has already been configured. */ | |
| if( ulStackDepth > 0 ) | |
| { | |
| ulRegionStartAddress = ( uint32_t ) pxBottomOfStack; | |
| ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1; | |
| /* If the stack is within the privileged SRAM, do not protect it | |
| * using a separate MPU region. This is needed because privileged | |
| * SRAM is already protected using an MPU region and ARMv8-M does | |
| * not allow overlapping MPU regions. */ | |
| if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) && | |
| ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) ) | |
| { | |
| xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0; | |
| xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0; | |
| } | |
| else | |
| { | |
| /* Define the region that allows access to the stack. */ | |
| ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK; | |
| ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; | |
| xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) | | |
| ( portMPU_REGION_NON_SHAREABLE ) | | |
| ( portMPU_REGION_READ_WRITE ) | | |
| ( portMPU_REGION_EXECUTE_NEVER ); | |
| xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) | | |
| ( portMPU_RLAR_ATTR_INDEX0 ) | | |
| ( portMPU_RLAR_REGION_ENABLE ); | |
| } | |
| } | |
| /* User supplied configurable regions. */ | |
| for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ ) | |
| { | |
| /* If xRegions is NULL i.e. the task has not specified any MPU | |
| * region, the else part ensures that all the configurable MPU | |
| * regions are invalidated. */ | |
| if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) ) | |
| { | |
| /* Translate the generic region definition contained in xRegions | |
| * into the ARMv8 specific MPU settings that are then stored in | |
| * xMPUSettings. */ | |
| ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK; | |
| ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1; | |
| ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK; | |
| /* Start address. */ | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) | | |
| ( portMPU_REGION_NON_SHAREABLE ); | |
| /* RO/RW. */ | |
| if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 ) | |
| { | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY ); | |
| } | |
| else | |
| { | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE ); | |
| } | |
| /* XN. */ | |
| if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 ) | |
| { | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER ); | |
| } | |
| /* End Address. */ | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) | | |
| ( portMPU_RLAR_REGION_ENABLE ); | |
| /* Normal memory/ Device memory. */ | |
| if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 ) | |
| { | |
| /* Attr1 in MAIR0 is configured as device memory. */ | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1; | |
| } | |
| else | |
| { | |
| /* Attr1 in MAIR0 is configured as normal memory. */ | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0; | |
| } | |
| } | |
| else | |
| { | |
| /* Invalidate the region. */ | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL; | |
| xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL; | |
| } | |
| lIndex++; | |
| } | |
| } | |
| #endif /* configENABLE_MPU */ | |
| /*-----------------------------------------------------------*/ | |
| BaseType_t xPortIsInsideInterrupt( void ) | |
| { | |
| uint32_t ulCurrentInterrupt; | |
| BaseType_t xReturn; | |
| /* Obtain the number of the currently executing interrupt. Interrupt Program | |
| * Status Register (IPSR) holds the exception number of the currently-executing | |
| * exception or zero for Thread mode.*/ | |
| __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); | |
| if( ulCurrentInterrupt == 0 ) | |
| { | |
| xReturn = pdFALSE; | |
| } | |
| else | |
| { | |
| xReturn = pdTRUE; | |
| } | |
| return xReturn; | |
| } | |
| /*-----------------------------------------------------------*/ |