| /* |
| * 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 includes. */ |
| #include "mpu_wrappers.h" |
| #include "mpu_syscall_numbers.h" |
| |
| /* Portasm includes. */ |
| #include "portasm.h" |
| |
| #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE |
| |
| /*-----------------------------------------------------------*/ |
| |
| /** |
| * @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 ) ) |
| #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_SHPR2_REG ( *( ( volatile uint32_t * ) 0xe000ed1c ) ) |
| #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) |
| #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) |
| #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) |
| #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) |
| #define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) |
| #define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL ) |
| #define portMIN_INTERRUPT_PRIORITY ( 255UL ) |
| #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) |
| #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /** |
| * @brief Constants required to manipulate the SCB. |
| */ |
| #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 used during system call enter and exit. |
| */ |
| #define portPSR_STACK_PADDING_MASK ( 1UL << 9UL ) |
| #define portEXC_RETURN_STACK_FRAME_TYPE_MASK ( 1UL << 4UL ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /** |
| * @brief Offsets in the stack to the parameters when inside the SVC handler. |
| */ |
| #define portOFFSET_TO_LR ( 5 ) |
| #define portOFFSET_TO_PC ( 6 ) |
| #define portOFFSET_TO_PSR ( 7 ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /** |
| * @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_RBAR_REG ( *( ( volatile uint32_t * ) 0xe000ed9c ) ) |
| #define portMPU_RASR_REG ( *( ( volatile uint32_t * ) 0xe000eda0 ) ) |
| |
| /* MPU Region Attribute and Size Register (RASR) bitmasks. */ |
| #define portMPU_RASR_AP_BITMASK ( 0x7UL << 24UL ) |
| #define portMPU_RASR_S_C_B_BITMASK ( 0x7UL ) |
| #define portMPU_RASR_S_C_B_LOCATION ( 16UL ) |
| #define portMPU_RASR_SIZE_BITMASK ( 0x1FUL << 1UL ) |
| #define portMPU_RASR_REGION_ENABLE_BITMASK ( 0x1UL ) |
| |
| /* MPU Region Base Address Register (RBAR) bitmasks. */ |
| #define portMPU_RBAR_ADDRESS_BITMASK ( 0xFFFFFF00UL ) |
| #define portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ( 0x1UL << 4UL ) |
| #define portMPU_RBAR_REGION_NUMBER_BITMASK ( 0x0000000FUL ) |
| |
| /* MPU Control Register (MPU_CTRL) bitmasks. */ |
| #define portMPU_CTRL_ENABLE_BITMASK ( 0x1UL ) |
| #define portMPU_CTRL_PRIV_BACKGROUND_ENABLE_BITMASK ( 0x1UL << 2UL ) /* PRIVDEFENA bit. */ |
| |
| /* Expected value of the portMPU_TYPE register. */ |
| #define portEXPECTED_MPU_TYPE_VALUE ( 0x8UL << 8UL ) /* 8 DREGION unified. */ |
| |
| /* Extract first address of the MPU region as encoded in the |
| * RBAR (Region Base Address Register) value. */ |
| #define portEXTRACT_FIRST_ADDRESS_FROM_RBAR( rbar ) \ |
| ( ( rbar ) & portMPU_RBAR_ADDRESS_BITMASK ) |
| |
| /* Extract size of the MPU region as encoded in the |
| * RASR (Region Attribute and Size Register) value. */ |
| #define portEXTRACT_REGION_SIZE_FROM_RASR( rasr ) \ |
| ( 1 << ( ( ( ( rasr ) & portMPU_RASR_SIZE_BITMASK ) >> 1 )+ 1 ) ) |
| |
| /* Does addr lies within [start, end] address range? */ |
| #define portIS_ADDRESS_WITHIN_RANGE( addr, start, end ) \ |
| ( ( ( addr ) >= ( start ) ) && ( ( addr ) <= ( end ) ) ) |
| |
| /* Is the access request satisfied by the available permissions? */ |
| #define portIS_AUTHORIZED( accessRequest, permissions ) \ |
| ( ( ( permissions ) & ( accessRequest ) ) == accessRequest ) |
| |
| /* Max value that fits in a uint32_t type. */ |
| #define portUINT32_MAX ( ~( ( uint32_t ) 0 ) ) |
| |
| /* Check if adding a and b will result in overflow. */ |
| #define portADD_UINT32_WILL_OVERFLOW( a, b ) ( ( a ) > ( portUINT32_MAX - ( b ) ) ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /** |
| * @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 ( 94UL ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /** |
| * @brief Constants required to set up the initial stack. |
| */ |
| #define portINITIAL_XPSR ( 0x01000000 ) |
| |
| /** |
| * @brief Initial EXC_RETURN value. |
| * |
| * FF FF FF FD |
| * 1111 1111 1111 1111 1111 1111 1111 1101 |
| * |
| * 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 --> Reserved, 1. |
| */ |
| #define portINITIAL_EXC_RETURN ( 0xfffffffdUL ) |
| |
| /** |
| * @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 default SysTick clock rate. If defined by the |
| * user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the |
| * configuration register. |
| */ |
| #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_CONFIG ( portNVIC_SYSTICK_CLK_BIT ) |
| #else |
| /* Select the option to clock SysTick not at the same frequency as the core. */ |
| #define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 ) |
| #endif |
| |
| /** |
| * @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 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 */ |
| |
| /** |
| * @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; |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| /** |
| * @brief Sets up the system call stack so that upon returning from |
| * SVC, the system call stack is used. |
| * |
| * @param pulTaskStack The current SP when the SVC was raised. |
| * @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler. |
| * @param ucSystemCallNumber The system call number of the system call. |
| */ |
| void vSystemCallEnter( uint32_t * pulTaskStack, |
| uint32_t ulLR, |
| uint8_t ucSystemCallNumber ) PRIVILEGED_FUNCTION; |
| |
| #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| /** |
| * @brief Raise SVC for exiting from a system call. |
| */ |
| void vRequestSystemCallExit( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; |
| |
| #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| /** |
| * @brief Sets up the task stack so that upon returning from |
| * SVC, the task stack is used again. |
| * |
| * @param pulSystemCallStack The current SP when the SVC was raised. |
| * @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler. |
| */ |
| void vSystemCallExit( uint32_t * pulSystemCallStack, |
| uint32_t ulLR ) PRIVILEGED_FUNCTION; |
| |
| #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ |
| |
| #if ( configENABLE_MPU == 1 ) |
| |
| /** |
| * @brief Checks whether or not the calling task is privileged. |
| * |
| * @return pdTRUE if the calling task is privileged, pdFALSE otherwise. |
| */ |
| BaseType_t xPortIsTaskPrivileged( void ) PRIVILEGED_FUNCTION; |
| |
| #endif /* configENABLE_MPU == 1 */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| /** |
| * @brief This variable is set to pdTRUE when the scheduler is started. |
| */ |
| PRIVILEGED_DATA static BaseType_t xSchedulerRunning = pdFALSE; |
| |
| #endif |
| |
| /** |
| * @brief Each task maintains its own interrupt status in the critical nesting |
| * variable. |
| */ |
| PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL; |
| |
| #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, ulSysTickDecrementsLeft; |
| TickType_t xModifiableIdleTime; |
| |
| /* Make sure the SysTick reload value does not overflow the counter. */ |
| if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) |
| { |
| xExpectedIdleTime = xMaximumPossibleSuppressedTicks; |
| } |
| |
| /* 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 unsuspended then abandon the low power entry. */ |
| if( eTaskConfirmSleepModeStatus() == eAbortSleep ) |
| { |
| /* Re-enable interrupts - see comments above the cpsid instruction |
| * above. */ |
| __asm volatile ( "cpsie i" ::: "memory" ); |
| } |
| else |
| { |
| /* 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_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT ); |
| |
| /* Use the SysTick current-value register to determine the number of |
| * SysTick decrements remaining until the next tick interrupt. If the |
| * current-value register is zero, then there are actually |
| * ulTimerCountsForOneTick decrements remaining, not zero, because the |
| * SysTick requests the interrupt when decrementing from 1 to 0. */ |
| ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG; |
| |
| if( ulSysTickDecrementsLeft == 0 ) |
| { |
| ulSysTickDecrementsLeft = ulTimerCountsForOneTick; |
| } |
| |
| /* Calculate the reload value required to wait xExpectedIdleTime |
| * tick periods. -1 is used because this code normally executes part |
| * way through the first tick period. But if the SysTick IRQ is now |
| * pending, then clear the IRQ, suppressing the first tick, and correct |
| * the reload value to reflect that the second tick period is already |
| * underway. The expected idle time is always at least two ticks. */ |
| ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); |
| |
| if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 ) |
| { |
| portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT; |
| ulReloadValue -= ulTimerCountsForOneTick; |
| } |
| |
| if( ulReloadValue > ulStoppedTimerCompensation ) |
| { |
| ulReloadValue -= ulStoppedTimerCompensation; |
| } |
| |
| /* 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_CONFIG | portNVIC_SYSTICK_INT_BIT ); |
| |
| /* Determine whether the SysTick has already counted to zero. */ |
| if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) |
| { |
| uint32_t ulCalculatedLoadValue; |
| |
| /* The tick interrupt ended the sleep (or is now pending), and |
| * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG |
| * with whatever remains of the new 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 or because the SysTick current-value register |
| * is zero. */ |
| 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. */ |
| |
| /* Use the SysTick current-value register to determine the |
| * number of SysTick decrements remaining until the expected idle |
| * time would have ended. */ |
| ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG; |
| #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT ) |
| { |
| /* If the SysTick is not using the core clock, the current- |
| * value register might still be zero here. In that case, the |
| * SysTick didn't load from the reload register, and there are |
| * ulReloadValue decrements remaining in the expected idle |
| * time, not zero. */ |
| if( ulSysTickDecrementsLeft == 0 ) |
| { |
| ulSysTickDecrementsLeft = ulReloadValue; |
| } |
| } |
| #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */ |
| |
| /* Work out how long the sleep lasted rounded to complete tick |
| * periods (not the ulReload value which accounted for part |
| * ticks). */ |
| ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft; |
| |
| /* 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. If |
| * the SysTick is not using the core clock, temporarily configure it to |
| * use the core clock. This configuration forces the SysTick to load |
| * from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next |
| * cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready |
| * to receive the standard value immediately. */ |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; |
| #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT ) |
| { |
| portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; |
| } |
| #else |
| { |
| /* The temporary usage of the core clock has served its purpose, |
| * as described above. Resume usage of the other clock. */ |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT; |
| |
| if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) |
| { |
| /* The partial tick period already ended. Be sure the SysTick |
| * counts it only once. */ |
| portNVIC_SYSTICK_CURRENT_VALUE_REG = 0; |
| } |
| |
| portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; |
| } |
| #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */ |
| |
| /* Step the tick to account for any tick periods that elapsed. */ |
| vTaskStepTick( ulCompleteTickPeriods ); |
| |
| /* 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 SysTick. |
| * |
| * QEMU versions older than 7.0.0 contain a bug which causes an error if we |
| * enable SysTick without first selecting a valid clock source. We trigger |
| * the bug if we change clock sources from a clock with a zero clock period |
| * to one with a nonzero clock period and enable Systick at the same time. |
| * So we configure the CLKSOURCE bit here, prior to setting the ENABLE bit. |
| * This workaround avoids the bug in QEMU versions older than 7.0.0. */ |
| portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG; |
| 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_CONFIG | 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 uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) |
| { |
| uint32_t ulRegionSize, ulReturnValue = 7UL; |
| |
| /* 256 is the smallest region size, 31 is the largest valid value for |
| * ulReturnValue. */ |
| for( ulRegionSize = 256UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) ) |
| { |
| if( ulActualSizeInBytes <= ulRegionSize ) |
| { |
| break; |
| } |
| else |
| { |
| ulReturnValue++; |
| } |
| } |
| |
| /* Shift the code by one before returning so it can be written directly |
| * into the the correct bit position of the attribute register. */ |
| return( ulReturnValue << 1UL ); |
| } |
| |
| #endif /* configENABLE_MPU */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #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 * __FLASH_segment_start__; |
| extern uint32_t * __FLASH_segment_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 __FLASH_segment_start__[]; |
| extern uint32_t __FLASH_segment_end__[]; |
| extern uint32_t __privileged_sram_start__[]; |
| extern uint32_t __privileged_sram_end__[]; |
| |
| #endif /* defined( __ARMCC_VERSION ) */ |
| |
| /* Ensure that the MPU is present. */ |
| configASSERT( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ); |
| |
| /* Check that the MPU is present. */ |
| if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) |
| { |
| /* Setup privileged flash as Read Only so that privileged tasks can |
| * read it but not modify. */ |
| portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) | /* Base address. */ |
| ( portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ) | |
| ( portPRIVILEGED_FLASH_REGION ) ); |
| |
| portMPU_RASR_REG = ( ( portMPU_REGION_PRIV_RO_UNPRIV_NA ) | |
| ( ( configS_C_B_FLASH & portMPU_RASR_S_C_B_BITMASK ) << portMPU_RASR_S_C_B_LOCATION ) | |
| ( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __privileged_functions_start__ ) ) | |
| ( portMPU_RASR_REGION_ENABLE_BITMASK ) ); |
| |
| /* Setup unprivileged flash as Read Only by both privileged and |
| * unprivileged tasks. All tasks can read it but no-one can modify. */ |
| portMPU_RBAR_REG = ( ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */ |
| ( portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ) | |
| ( portUNPRIVILEGED_FLASH_REGION ) ); |
| |
| portMPU_RASR_REG = ( ( portMPU_REGION_PRIV_RO_UNPRIV_RO ) | |
| ( ( configS_C_B_FLASH & portMPU_RASR_S_C_B_BITMASK ) << portMPU_RASR_S_C_B_LOCATION ) | |
| ( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) | |
| ( portMPU_RASR_REGION_ENABLE_BITMASK ) ); |
| |
| /* Setup RAM containing kernel data for privileged access only. */ |
| portMPU_RBAR_REG = ( ( uint32_t ) __privileged_sram_start__ ) | /* Base address. */ |
| ( portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ) | |
| ( portPRIVILEGED_RAM_REGION ); |
| |
| portMPU_RASR_REG = ( ( portMPU_REGION_PRIV_RW_UNPRIV_NA ) | |
| ( portMPU_REGION_EXECUTE_NEVER ) | |
| ( ( configS_C_B_SRAM & portMPU_RASR_S_C_B_BITMASK ) << portMPU_RASR_S_C_B_LOCATION ) | |
| prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_sram_end__ - ( uint32_t ) __privileged_sram_start__ ) | |
| ( portMPU_RASR_REGION_ENABLE_BITMASK ) ); |
| |
| /* Enable MPU with privileged background access i.e. unmapped |
| * regions have privileged access. */ |
| portMPU_CTRL_REG |= ( portMPU_CTRL_PRIV_BACKGROUND_ENABLE_BITMASK | |
| portMPU_CTRL_ENABLE_BITMASK ); |
| } |
| } |
| |
| #endif /* configENABLE_MPU */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| 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(); |
| |
| traceISR_ENTER(); |
| { |
| /* Increment the RTOS tick. */ |
| if( xTaskIncrementTick() != pdFALSE ) |
| { |
| traceISR_EXIT_TO_SCHEDULER(); |
| /* Pend a context switch. */ |
| portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; |
| } |
| else |
| { |
| traceISR_EXIT(); |
| } |
| } |
| |
| portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); |
| } |
| |
| /*-----------------------------------------------------------*/ |
| |
| void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */ |
| { |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 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 == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */ |
| |
| uint32_t ulPC; |
| uint8_t ucSVCNumber; |
| |
| /* Register are stored on the stack in the following order - R0, R1, R2, R3, |
| * R12, LR, PC, xPSR. */ |
| ulPC = pulCallerStackAddress[ portOFFSET_TO_PC ]; |
| ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; |
| |
| switch( ucSVCNumber ) |
| { |
| case portSVC_START_SCHEDULER: |
| /* Setup the context of the first task so that the first task starts |
| * executing. */ |
| vRestoreContextOfFirstTask(); |
| break; |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 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 == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */ |
| |
| #if ( configENABLE_MPU == 1 ) |
| |
| case portSVC_YIELD: |
| vPortYield(); |
| break; |
| |
| #endif /* configENABLE_MPU == 1 */ |
| |
| default: |
| /* Incorrect SVC call. */ |
| configASSERT( pdFALSE ); |
| } |
| } |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| void vSystemCallEnter( uint32_t * pulTaskStack, |
| uint32_t ulLR, |
| uint8_t ucSystemCallNumber ) /* PRIVILEGED_FUNCTION */ |
| { |
| extern TaskHandle_t pxCurrentTCB; |
| extern UBaseType_t uxSystemCallImplementations[ NUM_SYSTEM_CALLS ]; |
| xMPU_SETTINGS * pxMpuSettings; |
| uint32_t * pulSystemCallStack; |
| uint32_t ulSystemCallLocation, i; |
| const uint32_t ulStackFrameSize = 8; |
| |
| #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 /* #if defined( __ARMCC_VERSION ) */ |
| |
| ulSystemCallLocation = pulTaskStack[ portOFFSET_TO_PC ]; |
| pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB ); |
| |
| /* Checks: |
| * 1. SVC is raised from the system call section (i.e. application is |
| * not raising SVC directly). |
| * 2. pxMpuSettings->xSystemCallStackInfo.pulTaskStack must be NULL as |
| * it is non-NULL only during the execution of a system call (i.e. |
| * between system call enter and exit). |
| * 3. System call is not for a kernel API disabled by the configuration |
| * in FreeRTOSConfig.h. |
| * 4. We do not need to check that ucSystemCallNumber is within range |
| * because the assembly SVC handler checks that before calling |
| * this function. |
| */ |
| if( ( ulSystemCallLocation >= ( uint32_t ) __syscalls_flash_start__ ) && |
| ( ulSystemCallLocation <= ( uint32_t ) __syscalls_flash_end__ ) && |
| ( pxMpuSettings->xSystemCallStackInfo.pulTaskStack == NULL ) && |
| ( uxSystemCallImplementations[ ucSystemCallNumber ] != ( UBaseType_t ) 0 ) ) |
| { |
| pulSystemCallStack = pxMpuSettings->xSystemCallStackInfo.pulSystemCallStack; |
| |
| /* Make space on the system call stack for the stack frame. */ |
| pulSystemCallStack = pulSystemCallStack - ulStackFrameSize; |
| |
| /* Copy the stack frame. */ |
| for( i = 0; i < ulStackFrameSize; i++ ) |
| { |
| pulSystemCallStack[ i ] = pulTaskStack[ i ]; |
| } |
| |
| /* Store the value of the Link Register before the SVC was raised. |
| * It contains the address of the caller of the System Call entry |
| * point (i.e. the caller of the MPU_<API>). We need to restore it |
| * when we exit from the system call. */ |
| pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry = pulTaskStack[ portOFFSET_TO_LR ]; |
| |
| /* Use the pulSystemCallStack in thread mode. */ |
| __asm volatile ( "msr psp, %0" : : "r" ( pulSystemCallStack ) ); |
| |
| /* Start executing the system call upon returning from this handler. */ |
| pulSystemCallStack[ portOFFSET_TO_PC ] = uxSystemCallImplementations[ ucSystemCallNumber ]; |
| |
| /* Raise a request to exit from the system call upon finishing the |
| * system call. */ |
| pulSystemCallStack[ portOFFSET_TO_LR ] = ( uint32_t ) vRequestSystemCallExit; |
| |
| /* Remember the location where we should copy the stack frame when we exit from |
| * the system call. */ |
| pxMpuSettings->xSystemCallStackInfo.pulTaskStack = pulTaskStack + ulStackFrameSize; |
| |
| /* Record if the hardware used padding to force the stack pointer |
| * to be double word aligned. */ |
| if( ( pulTaskStack[ portOFFSET_TO_PSR ] & portPSR_STACK_PADDING_MASK ) == portPSR_STACK_PADDING_MASK ) |
| { |
| pxMpuSettings->ulTaskFlags |= portSTACK_FRAME_HAS_PADDING_FLAG; |
| } |
| else |
| { |
| pxMpuSettings->ulTaskFlags &= ( ~portSTACK_FRAME_HAS_PADDING_FLAG ); |
| } |
| |
| /* We ensure in pxPortInitialiseStack that the system call stack is |
| * double word aligned and therefore, there is no need of padding. |
| * Clear the bit[9] of stacked xPSR. */ |
| pulSystemCallStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK ); |
| |
| /* Raise the privilege for the duration of the system call. */ |
| __asm volatile |
| ( |
| " .syntax unified \n" |
| " mrs r0, control \n" /* Obtain current control value. */ |
| " movs r1, #1 \n" /* r1 = 1. */ |
| " bics r0, r1 \n" /* Clear nPRIV bit. */ |
| " msr control, r0 \n" /* Write back new control value. */ |
| ::: "r0", "r1", "memory" |
| ); |
| } |
| } |
| |
| #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| void vRequestSystemCallExit( void ) /* __attribute__( ( naked ) ) PRIVILEGED_FUNCTION */ |
| { |
| __asm volatile ( "svc %0 \n" ::"i" ( portSVC_SYSTEM_CALL_EXIT ) : "memory" ); |
| } |
| |
| #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| void vSystemCallExit( uint32_t * pulSystemCallStack, |
| uint32_t ulLR ) /* PRIVILEGED_FUNCTION */ |
| { |
| extern TaskHandle_t pxCurrentTCB; |
| xMPU_SETTINGS * pxMpuSettings; |
| uint32_t * pulTaskStack; |
| uint32_t ulSystemCallLocation, i; |
| const uint32_t ulStackFrameSize = 8; |
| |
| #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__; |
| |
| #else |
| |
| /* Declaration when these variable are exported from linker scripts. */ |
| extern uint32_t __privileged_functions_start__[]; |
| extern uint32_t __privileged_functions_end__[]; |
| |
| #endif /* #if defined( __ARMCC_VERSION ) */ |
| |
| ulSystemCallLocation = pulSystemCallStack[ portOFFSET_TO_PC ]; |
| pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB ); |
| |
| /* Checks: |
| * 1. SVC is raised from the privileged code (i.e. application is not |
| * raising SVC directly). This SVC is only raised from |
| * vRequestSystemCallExit which is in the privileged code section. |
| * 2. pxMpuSettings->xSystemCallStackInfo.pulTaskStack must not be NULL - |
| * this means that we previously entered a system call and the |
| * application is not attempting to exit without entering a system |
| * call. |
| */ |
| if( ( ulSystemCallLocation >= ( uint32_t ) __privileged_functions_start__ ) && |
| ( ulSystemCallLocation <= ( uint32_t ) __privileged_functions_end__ ) && |
| ( pxMpuSettings->xSystemCallStackInfo.pulTaskStack != NULL ) ) |
| { |
| pulTaskStack = pxMpuSettings->xSystemCallStackInfo.pulTaskStack; |
| |
| /* Make space on the task stack for the stack frame. */ |
| pulTaskStack = pulTaskStack - ulStackFrameSize; |
| |
| /* Copy the stack frame. */ |
| for( i = 0; i < ulStackFrameSize; i++ ) |
| { |
| pulTaskStack[ i ] = pulSystemCallStack[ i ]; |
| } |
| |
| /* Use the pulTaskStack in thread mode. */ |
| __asm volatile ( "msr psp, %0" : : "r" ( pulTaskStack ) ); |
| |
| /* Return to the caller of the System Call entry point (i.e. the |
| * caller of the MPU_<API>). */ |
| pulTaskStack[ portOFFSET_TO_PC ] = pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry; |
| |
| /* Ensure that LR has a valid value.*/ |
| pulTaskStack[ portOFFSET_TO_LR ] = pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry; |
| |
| /* If the hardware used padding to force the stack pointer |
| * to be double word aligned, set the stacked xPSR bit[9], |
| * otherwise clear it. */ |
| if( ( pxMpuSettings->ulTaskFlags & portSTACK_FRAME_HAS_PADDING_FLAG ) == portSTACK_FRAME_HAS_PADDING_FLAG ) |
| { |
| pulTaskStack[ portOFFSET_TO_PSR ] |= portPSR_STACK_PADDING_MASK; |
| } |
| else |
| { |
| pulTaskStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK ); |
| } |
| |
| /* This is not NULL only for the duration of the system call. */ |
| pxMpuSettings->xSystemCallStackInfo.pulTaskStack = NULL; |
| |
| /* Drop the privilege before returning to the thread mode. */ |
| __asm volatile |
| ( |
| " .syntax unified \n" |
| " mrs r0, control \n" /* Obtain current control value. */ |
| " movs r1, #1 \n" /* r1 = 1. */ |
| " orrs r0, r1 \n" /* Set nPRIV bit. */ |
| " msr control, r0 \n" /* Write back new control value. */ |
| ::: "r0", "r1", "memory" |
| ); |
| } |
| } |
| |
| #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configENABLE_MPU == 1 ) |
| |
| BaseType_t xPortIsTaskPrivileged( void ) /* PRIVILEGED_FUNCTION */ |
| { |
| BaseType_t xTaskIsPrivileged = pdFALSE; |
| const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */ |
| |
| if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG ) |
| { |
| xTaskIsPrivileged = pdTRUE; |
| } |
| |
| return xTaskIsPrivileged; |
| } |
| |
| #endif /* configENABLE_MPU == 1 */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configENABLE_MPU == 1 ) |
| |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters, |
| BaseType_t xRunPrivileged, |
| xMPU_SETTINGS * xMPUSettings ) /* PRIVILEGED_FUNCTION */ |
| { |
| xMPUSettings->ulContext[ 0 ] = 0x04040404; /* r4. */ |
| xMPUSettings->ulContext[ 1 ] = 0x05050505; /* r5. */ |
| xMPUSettings->ulContext[ 2 ] = 0x06060606; /* r6. */ |
| xMPUSettings->ulContext[ 3 ] = 0x07070707; /* r7. */ |
| xMPUSettings->ulContext[ 4 ] = 0x08080808; /* r8. */ |
| xMPUSettings->ulContext[ 5 ] = 0x09090909; /* r9. */ |
| xMPUSettings->ulContext[ 6 ] = 0x10101010; /* r10. */ |
| xMPUSettings->ulContext[ 7 ] = 0x11111111; /* r11. */ |
| |
| xMPUSettings->ulContext[ 8 ] = ( uint32_t ) pvParameters; /* r0. */ |
| xMPUSettings->ulContext[ 9 ] = 0x01010101; /* r1. */ |
| xMPUSettings->ulContext[ 10 ] = 0x02020202; /* r2. */ |
| xMPUSettings->ulContext[ 11 ] = 0x03030303; /* r3. */ |
| xMPUSettings->ulContext[ 12 ] = 0x12121212; /* r12. */ |
| xMPUSettings->ulContext[ 13 ] = ( uint32_t ) portTASK_RETURN_ADDRESS; /* LR. */ |
| xMPUSettings->ulContext[ 14 ] = ( uint32_t ) pxCode; /* PC. */ |
| xMPUSettings->ulContext[ 15 ] = portINITIAL_XPSR; /* xPSR. */ |
| |
| xMPUSettings->ulContext[ 16 ] = ( uint32_t ) ( pxTopOfStack - 8 ); /* PSP with the hardware saved stack. */ |
| if( xRunPrivileged == pdTRUE ) |
| { |
| xMPUSettings->ulTaskFlags |= portTASK_IS_PRIVILEGED_FLAG; |
| xMPUSettings->ulContext[ 17 ] = ( uint32_t ) portINITIAL_CONTROL_PRIVILEGED; /* CONTROL. */ |
| } |
| else |
| { |
| xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG ); |
| xMPUSettings->ulContext[ 17 ] = ( uint32_t ) portINITIAL_CONTROL_UNPRIVILEGED; /* CONTROL. */ |
| } |
| xMPUSettings->ulContext[ 18 ] = portINITIAL_EXC_RETURN; /* LR (EXC_RETURN). */ |
| |
| #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) |
| { |
| /* Ensure that the system call stack is double word aligned. */ |
| xMPUSettings->xSystemCallStackInfo.pulSystemCallStack = &( xMPUSettings->xSystemCallStackInfo.ulSystemCallStackBuffer[ configSYSTEM_CALL_STACK_SIZE - 1 ] ); |
| xMPUSettings->xSystemCallStackInfo.pulSystemCallStack = ( uint32_t * ) ( ( uint32_t ) ( xMPUSettings->xSystemCallStackInfo.pulSystemCallStack ) & |
| ( uint32_t ) ( ~( portBYTE_ALIGNMENT_MASK ) ) ); |
| |
| /* This is not NULL only for the duration of a system call. */ |
| xMPUSettings->xSystemCallStackInfo.pulTaskStack = NULL; |
| } |
| #endif /* configUSE_MPU_WRAPPERS_V1 == 0 */ |
| |
| return &( xMPUSettings->ulContext[ 19 ] ); |
| } |
| |
| #else /* configENABLE_MPU */ |
| |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters ) /* PRIVILEGED_FUNCTION */ |
| { |
| /* 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; |
| } |
| #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. */ |
| } |
| #endif /* portPRELOAD_REGISTERS */ |
| |
| return pxTopOfStack; |
| } |
| |
| #endif /* configENABLE_MPU */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */ |
| { |
| /* An application can install FreeRTOS interrupt handlers in one of the |
| * following 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 */ |
| |
| /* 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 ) |
| { |
| /* 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; |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| { |
| xSchedulerRunning = pdTRUE; |
| } |
| #endif |
| |
| /* 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, |
| configSTACK_DEPTH_TYPE uxStackDepth ) |
| { |
| #if defined( __ARMCC_VERSION ) |
| |
| /* Declaration when these variable are defined in code instead of being |
| * exported from linker scripts. */ |
| extern uint32_t * __SRAM_segment_start__; |
| extern uint32_t * __SRAM_segment_end__; |
| 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 __SRAM_segment_start__[]; |
| extern uint32_t __SRAM_segment_end__[]; |
| extern uint32_t __privileged_sram_start__[]; |
| extern uint32_t __privileged_sram_end__[]; |
| |
| #endif /* defined( __ARMCC_VERSION ) */ |
| |
| int32_t lIndex; |
| uint32_t ul; |
| |
| if( xRegions == NULL ) |
| { |
| /* No MPU regions are specified so allow access to all RAM. */ |
| xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = |
| ( ( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */ |
| ( portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ) | |
| ( portSTACK_REGION ) ); /* Region number. */ |
| |
| xMPUSettings->xRegionsSettings[ 0 ].ulRASR = |
| ( ( portMPU_REGION_PRIV_RW_UNPRIV_RW ) | |
| ( portMPU_REGION_EXECUTE_NEVER ) | |
| ( ( configS_C_B_SRAM & portMPU_RASR_S_C_B_BITMASK ) << portMPU_RASR_S_C_B_LOCATION ) | |
| ( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) | |
| ( portMPU_RASR_REGION_ENABLE_BITMASK ) ); |
| |
| |
| /* Invalidate user configurable regions. */ |
| for( ul = 1UL; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) |
| { |
| xMPUSettings->xRegionsSettings[ ul ].ulRBAR = ( ( ul - 1UL ) | portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ); |
| xMPUSettings->xRegionsSettings[ ul ].ulRASR = 0UL; |
| } |
| } |
| else |
| { |
| /* 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( uxStackDepth > 0 ) |
| { |
| /* Define the region that allows access to the stack. */ |
| xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = |
| ( ( ( uint32_t ) pxBottomOfStack ) | |
| ( portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ) | |
| ( portSTACK_REGION ) ); /* Region number. */ |
| |
| xMPUSettings->xRegionsSettings[ 0 ].ulRASR = |
| ( ( portMPU_REGION_PRIV_RW_UNPRIV_RW ) | |
| ( portMPU_REGION_EXECUTE_NEVER ) | |
| ( prvGetMPURegionSizeSetting( uxStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) | |
| ( ( configS_C_B_SRAM & portMPU_RASR_S_C_B_BITMASK ) << portMPU_RASR_S_C_B_LOCATION ) | |
| ( portMPU_RASR_REGION_ENABLE_BITMASK ) ); |
| } |
| |
| lIndex = 0; |
| |
| for( ul = 1UL; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) |
| { |
| if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL ) |
| { |
| /* Translate the generic region definition contained in |
| * xRegions into the CM0+ specific MPU settings that are then |
| * stored in xMPUSettings. */ |
| xMPUSettings->xRegionsSettings[ ul ].ulRBAR = |
| ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) | |
| ( portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ) | |
| ( ul - 1UL ); /* Region number. */ |
| |
| xMPUSettings->xRegionsSettings[ ul ].ulRASR = |
| ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) | |
| ( xRegions[ lIndex ].ulParameters ) | |
| ( portMPU_RASR_REGION_ENABLE_BITMASK ); |
| } |
| else |
| { |
| /* Invalidate the region. */ |
| xMPUSettings->xRegionsSettings[ ul ].ulRBAR = ( ( ul - 1UL ) | portMPU_RBAR_REGION_NUMBER_VALID_BITMASK ); |
| xMPUSettings->xRegionsSettings[ ul ].ulRASR = 0UL; |
| } |
| |
| lIndex++; |
| } |
| } |
| } |
| |
| #endif /* configENABLE_MPU */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer, |
| uint32_t ulBufferLength, |
| uint32_t ulAccessRequested ) /* PRIVILEGED_FUNCTION */ |
| |
| { |
| uint32_t i, ulBufferStartAddress, ulBufferEndAddress; |
| uint32_t ulRegionStart, ulRegionSize, ulRegionEnd; |
| uint32_t ulMPURegionAccessPermissions; |
| BaseType_t xAccessGranted = pdFALSE; |
| const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */ |
| |
| if( xSchedulerRunning == pdFALSE ) |
| { |
| /* Grant access to all the kernel objects before the scheduler |
| * is started. It is necessary because there is no task running |
| * yet and therefore, we cannot use the permissions of any |
| * task. */ |
| xAccessGranted = pdTRUE; |
| } |
| else if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG ) |
| { |
| xAccessGranted = pdTRUE; |
| } |
| else |
| { |
| if( portADD_UINT32_WILL_OVERFLOW( ( ( uint32_t ) pvBuffer ), ( ulBufferLength - 1UL ) ) == pdFALSE ) |
| { |
| ulBufferStartAddress = ( uint32_t ) pvBuffer; |
| ulBufferEndAddress = ( ( ( uint32_t ) pvBuffer ) + ulBufferLength - 1UL ); |
| |
| for( i = 0; i < portTOTAL_NUM_REGIONS; i++ ) |
| { |
| /* Is the MPU region enabled? */ |
| if( ( xTaskMpuSettings->xRegionsSettings[ i ].ulRASR & |
| portMPU_RASR_REGION_ENABLE_BITMASK ) == portMPU_RASR_REGION_ENABLE_BITMASK ) |
| { |
| ulRegionStart = portEXTRACT_FIRST_ADDRESS_FROM_RBAR( xTaskMpuSettings->xRegionsSettings[ i ].ulRBAR ); |
| ulRegionSize = portEXTRACT_REGION_SIZE_FROM_RASR( xTaskMpuSettings->xRegionsSettings[ i ].ulRASR ); |
| ulRegionEnd = ulRegionStart + ulRegionSize; |
| |
| if( portIS_ADDRESS_WITHIN_RANGE( ulBufferStartAddress, |
| ulRegionStart, |
| ulRegionEnd ) && |
| portIS_ADDRESS_WITHIN_RANGE( ulBufferEndAddress, |
| ulRegionStart, |
| ulRegionEnd ) ) |
| { |
| ulMPURegionAccessPermissions = xTaskMpuSettings->xRegionsSettings[ i ].ulRASR & |
| portMPU_RASR_AP_BITMASK; |
| |
| if( ulAccessRequested == tskMPU_READ_PERMISSION ) /* RO. */ |
| { |
| if( ( ulMPURegionAccessPermissions == portMPU_REGION_PRIV_RW_UNPRIV_RO ) || |
| ( ulMPURegionAccessPermissions == portMPU_REGION_PRIV_RO_UNPRIV_RO ) || |
| ( ulMPURegionAccessPermissions == portMPU_REGION_PRIV_RW_UNPRIV_RW ) ) |
| { |
| xAccessGranted = pdTRUE; |
| break; |
| } |
| } |
| else if( ( ulAccessRequested & tskMPU_WRITE_PERMISSION ) != 0UL ) /* W or RW. */ |
| { |
| if( ulMPURegionAccessPermissions == portMPU_REGION_PRIV_RW_UNPRIV_RW ) |
| { |
| xAccessGranted = pdTRUE; |
| break; |
| } |
| } |
| } |
| } |
| } |
| } |
| } |
| |
| return xAccessGranted; |
| } |
| |
| #endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| 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; |
| } |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) |
| |
| void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle, |
| int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */ |
| { |
| uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit; |
| xMPU_SETTINGS * xTaskMpuSettings; |
| |
| ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS ); |
| ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS ); |
| |
| xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle ); |
| |
| xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit ); |
| } |
| |
| #endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) |
| |
| void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle, |
| int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */ |
| { |
| uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit; |
| xMPU_SETTINGS * xTaskMpuSettings; |
| |
| ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS ); |
| ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS ); |
| |
| xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle ); |
| |
| xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit ); |
| } |
| |
| #endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) |
| |
| #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) |
| |
| BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */ |
| { |
| uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit; |
| BaseType_t xAccessGranted = pdFALSE; |
| const xMPU_SETTINGS * xTaskMpuSettings; |
| |
| if( xSchedulerRunning == pdFALSE ) |
| { |
| /* Grant access to all the kernel objects before the scheduler |
| * is started. It is necessary because there is no task running |
| * yet and therefore, we cannot use the permissions of any |
| * task. */ |
| xAccessGranted = pdTRUE; |
| } |
| else |
| { |
| xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */ |
| |
| ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS ); |
| ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS ); |
| |
| if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG ) |
| { |
| xAccessGranted = pdTRUE; |
| } |
| else |
| { |
| if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 ) |
| { |
| xAccessGranted = pdTRUE; |
| } |
| } |
| } |
| |
| return xAccessGranted; |
| } |
| |
| #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */ |
| |
| BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */ |
| { |
| ( void ) lInternalIndexOfKernelObject; |
| |
| /* If Access Control List feature is not used, all the tasks have |
| * access to all the kernel objects. */ |
| return pdTRUE; |
| } |
| |
| #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */ |
| |
| #endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */ |
| |
| /*-----------------------------------------------------------*/ |
