/* | |
* FreeRTOS Kernel V10.3.1 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/* Standard includes. */ | |
#include <stdint.h> | |
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION | |
* is defined correctly and privileged functions are placed in correct sections. */ | |
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
/* Portasm includes. */ | |
#include "portasm.h" | |
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the | |
* header files. */ | |
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE | |
#if( configENABLE_FPU == 1 ) | |
#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. | |
#endif | |
void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" .syntax unified \n" | |
" \n" | |
" ldr r2, pxCurrentTCBConst2 \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ | |
" ldr r1, [r2] \n" /* Read pxCurrentTCB. */ | |
" ldr r0, [r1] \n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ | |
" \n" | |
#if( configENABLE_MPU == 1 ) | |
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ | |
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ | |
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ | |
" movs r4, #1 \n" /* r4 = 1. */ | |
" bics r3, r4 \n" /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ | |
" str r3, [r2] \n" /* Disable MPU. */ | |
" \n" | |
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ | |
" ldr r4, [r1] \n" /* r4 = *r1 i.e. r4 = MAIR0. */ | |
" ldr r2, xMAIR0Const2 \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ | |
" str r4, [r2] \n" /* Program MAIR0. */ | |
" ldr r2, xRNRConst2 \n" /* r2 = 0xe000ed98 [Location of RNR]. */ | |
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ | |
" movs r4, #4 \n" /* r4 = 4. */ | |
" str r4, [r2] \n" /* Program RNR = 4. */ | |
" ldmia r1!, {r5,r6} \n" /* Read first set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write first set of RBAR/RLAR registers. */ | |
" movs r4, #5 \n" /* r4 = 5. */ | |
" str r4, [r2] \n" /* Program RNR = 5. */ | |
" ldmia r1!, {r5,r6} \n" /* Read second set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write second set of RBAR/RLAR registers. */ | |
" movs r4, #6 \n" /* r4 = 6. */ | |
" str r4, [r2] \n" /* Program RNR = 6. */ | |
" ldmia r1!, {r5,r6} \n" /* Read third set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write third set of RBAR/RLAR registers. */ | |
" movs r4, #7 \n" /* r4 = 7. */ | |
" str r4, [r2] \n" /* Program RNR = 7. */ | |
" ldmia r1!, {r5,r6} \n" /* Read fourth set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write fourth set of RBAR/RLAR registers. */ | |
" \n" | |
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ | |
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ | |
" movs r4, #1 \n" /* r4 = 1. */ | |
" orrs r3, r4 \n" /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ | |
" str r3, [r2] \n" /* Enable MPU. */ | |
" dsb \n" /* Force memory writes before continuing. */ | |
#endif /* configENABLE_MPU */ | |
" \n" | |
#if( configENABLE_MPU == 1 ) | |
" ldm r0!, {r1-r3} \n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ | |
" msr psplim, r1 \n" /* Set this task's PSPLIM value. */ | |
" msr control, r2 \n" /* Set this task's CONTROL value. */ | |
" adds r0, #32 \n" /* Discard everything up to r0. */ | |
" msr psp, r0 \n" /* This is now the new top of stack to use in the task. */ | |
" isb \n" | |
" bx r3 \n" /* Finally, branch to EXC_RETURN. */ | |
#else /* configENABLE_MPU */ | |
" ldm r0!, {r1-r2} \n" /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ | |
" msr psplim, r1 \n" /* Set this task's PSPLIM value. */ | |
" movs r1, #2 \n" /* r1 = 2. */ | |
" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ | |
" adds r0, #32 \n" /* Discard everything up to r0. */ | |
" msr psp, r0 \n" /* This is now the new top of stack to use in the task. */ | |
" isb \n" | |
" bx r2 \n" /* Finally, branch to EXC_RETURN. */ | |
#endif /* configENABLE_MPU */ | |
" \n" | |
" .align 4 \n" | |
"pxCurrentTCBConst2: .word pxCurrentTCB \n" | |
#if( configENABLE_MPU == 1 ) | |
"xMPUCTRLConst2: .word 0xe000ed94 \n" | |
"xMAIR0Const2: .word 0xe000edc0 \n" | |
"xRNRConst2: .word 0xe000ed98 \n" | |
"xRBARConst2: .word 0xe000ed9c \n" | |
#endif /* configENABLE_MPU */ | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ | |
{ | |
__asm volatile | |
( | |
" mrs r0, control \n" /* r0 = CONTROL. */ | |
" movs r1, #1 \n" /* r1 = 1. */ | |
" tst r0, r1 \n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ | |
" beq running_privileged \n" /* If the result of previous AND operation was 0, branch. */ | |
" movs r0, #0 \n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ | |
" bx lr \n" /* Return. */ | |
" running_privileged: \n" | |
" movs r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ | |
" bx lr \n" /* Return. */ | |
" \n" | |
" .align 4 \n" | |
::: "r0", "r1", "memory" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" mrs r0, control \n" /* Read the CONTROL register. */ | |
" movs r1, #1 \n" /* r1 = 1. */ | |
" bics r0, r1 \n" /* Clear the bit 0. */ | |
" msr control, r0 \n" /* Write back the new CONTROL value. */ | |
" bx lr \n" /* Return to the caller. */ | |
::: "r0", "r1", "memory" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
void vResetPrivilege( void ) /* __attribute__ (( naked )) */ | |
{ | |
__asm volatile | |
( | |
" mrs r0, control \n" /* r0 = CONTROL. */ | |
" movs r1, #1 \n" /* r1 = 1. */ | |
" orrs r0, r1 \n" /* r0 = r0 | r1. */ | |
" msr control, r0 \n" /* CONTROL = r0. */ | |
" bx lr \n" /* Return to the caller. */ | |
:::"r0", "r1", "memory" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" ldr r0, xVTORConst \n" /* Use the NVIC offset register to locate the stack. */ | |
" ldr r0, [r0] \n" /* Read the VTOR register which gives the address of vector table. */ | |
" ldr r0, [r0] \n" /* The first entry in vector table is stack pointer. */ | |
" msr msp, r0 \n" /* Set the MSP back to the start of the stack. */ | |
" cpsie i \n" /* Globally enable interrupts. */ | |
" dsb \n" | |
" isb \n" | |
" svc %0 \n" /* System call to start the first task. */ | |
" nop \n" | |
" \n" | |
" .align 4 \n" | |
"xVTORConst: .word 0xe000ed08 \n" | |
:: "i" ( portSVC_START_SCHEDULER ) : "memory" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" mrs r0, PRIMASK \n" | |
" cpsid i \n" | |
" bx lr \n" | |
::: "memory" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" msr PRIMASK, r0 \n" | |
" bx lr \n" | |
::: "memory" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" .syntax unified \n" | |
" \n" | |
" mrs r0, psp \n" /* Read PSP in r0. */ | |
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ | |
" ldr r1, [r2] \n" /* Read pxCurrentTCB. */ | |
#if( configENABLE_MPU == 1 ) | |
" subs r0, r0, #44 \n" /* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */ | |
" str r0, [r1] \n" /* Save the new top of stack in TCB. */ | |
" mrs r1, psplim \n" /* r1 = PSPLIM. */ | |
" mrs r2, control \n" /* r2 = CONTROL. */ | |
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ | |
" stmia r0!, {r1-r7} \n" /* Store on the stack - PSPLIM, CONTROL, LR and low registers that are not automatically saved. */ | |
" mov r4, r8 \n" /* r4 = r8. */ | |
" mov r5, r9 \n" /* r5 = r9. */ | |
" mov r6, r10 \n" /* r6 = r10. */ | |
" mov r7, r11 \n" /* r7 = r11. */ | |
" stmia r0!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ | |
#else /* configENABLE_MPU */ | |
" subs r0, r0, #40 \n" /* Make space for PSPLIM, LR and the remaining registers on the stack. */ | |
" str r0, [r1] \n" /* Save the new top of stack in TCB. */ | |
" mrs r2, psplim \n" /* r2 = PSPLIM. */ | |
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ | |
" stmia r0!, {r2-r7} \n" /* Store on the stack - PSPLIM, LR and low registers that are not automatically saved. */ | |
" mov r4, r8 \n" /* r4 = r8. */ | |
" mov r5, r9 \n" /* r5 = r9. */ | |
" mov r6, r10 \n" /* r6 = r10. */ | |
" mov r7, r11 \n" /* r7 = r11. */ | |
" stmia r0!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ | |
#endif /* configENABLE_MPU */ | |
" \n" | |
" cpsid i \n" | |
" bl vTaskSwitchContext \n" | |
" cpsie i \n" | |
" \n" | |
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ | |
" ldr r1, [r2] \n" /* Read pxCurrentTCB. */ | |
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */ | |
" \n" | |
#if( configENABLE_MPU == 1 ) | |
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ | |
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ | |
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ | |
" movs r4, #1 \n" /* r4 = 1. */ | |
" bics r3, r4 \n" /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ | |
" str r3, [r2] \n" /* Disable MPU. */ | |
" \n" | |
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ | |
" ldr r4, [r1] \n" /* r4 = *r1 i.e. r4 = MAIR0. */ | |
" ldr r2, xMAIR0Const \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ | |
" str r4, [r2] \n" /* Program MAIR0. */ | |
" ldr r2, xRNRConst \n" /* r2 = 0xe000ed98 [Location of RNR]. */ | |
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ | |
" movs r4, #4 \n" /* r4 = 4. */ | |
" str r4, [r2] \n" /* Program RNR = 4. */ | |
" ldmia r1!, {r5,r6} \n" /* Read first set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write first set of RBAR/RLAR registers. */ | |
" movs r4, #5 \n" /* r4 = 5. */ | |
" str r4, [r2] \n" /* Program RNR = 5. */ | |
" ldmia r1!, {r5,r6} \n" /* Read second set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write second set of RBAR/RLAR registers. */ | |
" movs r4, #6 \n" /* r4 = 6. */ | |
" str r4, [r2] \n" /* Program RNR = 6. */ | |
" ldmia r1!, {r5,r6} \n" /* Read third set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write third set of RBAR/RLAR registers. */ | |
" movs r4, #7 \n" /* r4 = 7. */ | |
" str r4, [r2] \n" /* Program RNR = 7. */ | |
" ldmia r1!, {r5,r6} \n" /* Read fourth set of RBAR/RLAR from TCB. */ | |
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ | |
" stmia r3!, {r5,r6} \n" /* Write fourth set of RBAR/RLAR registers. */ | |
" \n" | |
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ | |
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ | |
" movs r4, #1 \n" /* r4 = 1. */ | |
" orrs r3, r4 \n" /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ | |
" str r3, [r2] \n" /* Enable MPU. */ | |
" dsb \n" /* Force memory writes before continuing. */ | |
#endif /* configENABLE_MPU */ | |
" \n" | |
#if( configENABLE_MPU == 1 ) | |
" adds r0, r0, #28 \n" /* Move to the high registers. */ | |
" ldmia r0!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */ | |
" mov r8, r4 \n" /* r8 = r4. */ | |
" mov r9, r5 \n" /* r9 = r5. */ | |
" mov r10, r6 \n" /* r10 = r6. */ | |
" mov r11, r7 \n" /* r11 = r7. */ | |
" msr psp, r0 \n" /* Remember the new top of stack for the task. */ | |
" subs r0, r0, #44 \n" /* Move to the starting of the saved context. */ | |
" ldmia r0!, {r1-r7} \n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r7 restored. */ | |
" msr psplim, r1 \n" /* Restore the PSPLIM register value for the task. */ | |
" msr control, r2 \n" /* Restore the CONTROL register value for the task. */ | |
" bx r3 \n" | |
#else /* configENABLE_MPU */ | |
" adds r0, r0, #24 \n" /* Move to the high registers. */ | |
" ldmia r0!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */ | |
" mov r8, r4 \n" /* r8 = r4. */ | |
" mov r9, r5 \n" /* r9 = r5. */ | |
" mov r10, r6 \n" /* r10 = r6. */ | |
" mov r11, r7 \n" /* r11 = r7. */ | |
" msr psp, r0 \n" /* Remember the new top of stack for the task. */ | |
" subs r0, r0, #40 \n" /* Move to the starting of the saved context. */ | |
" ldmia r0!, {r2-r7} \n" /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r7 restored. */ | |
" msr psplim, r2 \n" /* Restore the PSPLIM register value for the task. */ | |
" bx r3 \n" | |
#endif /* configENABLE_MPU */ | |
" \n" | |
" .align 4 \n" | |
"pxCurrentTCBConst: .word pxCurrentTCB \n" | |
#if( configENABLE_MPU == 1 ) | |
"xMPUCTRLConst: .word 0xe000ed94 \n" | |
"xMAIR0Const: .word 0xe000edc0 \n" | |
"xRNRConst: .word 0xe000ed98 \n" | |
"xRBARConst: .word 0xe000ed9c \n" | |
#endif /* configENABLE_MPU */ | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ | |
{ | |
__asm volatile | |
( | |
" movs r0, #4 \n" | |
" mov r1, lr \n" | |
" tst r0, r1 \n" | |
" beq stacking_used_msp \n" | |
" mrs r0, psp \n" | |
" ldr r2, svchandler_address_const \n" | |
" bx r2 \n" | |
" stacking_used_msp: \n" | |
" mrs r0, msp \n" | |
" ldr r2, svchandler_address_const \n" | |
" bx r2 \n" | |
" \n" | |
" .align 4 \n" | |
"svchandler_address_const: .word vPortSVCHandler_C \n" | |
); | |
} | |
/*-----------------------------------------------------------*/ |