| /* |
| * FreeRTOS Kernel V10.5.1 |
| * 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 |
| * |
| */ |
| |
| /*----------------------------------------------------------- |
| * Implementation of functions defined in portable.h for the ARM CM3 MPU port. |
| *----------------------------------------------------------*/ |
| |
| /* 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" |
| |
| #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE |
| |
| #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 ( 1UL << 2UL ) |
| #else |
| |
| /* The way the SysTick is clocked is not modified in case it is not the same |
| * as the core. */ |
| #define portNVIC_SYSTICK_CLK ( 0 ) |
| #endif |
| |
| #ifndef configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS |
| #warning "configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS is not defined. We recommend defining it to 0 in FreeRTOSConfig.h for better security." |
| #define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1 |
| #endif |
| |
| /* Constants required to access and manipulate the NVIC. */ |
| #define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) ) |
| #define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) ) |
| #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_SYS_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) ) |
| #define portNVIC_MEM_FAULT_ENABLE ( 1UL << 16UL ) |
| |
| /* Constants required to access and manipulate the MPU. */ |
| #define portMPU_TYPE_REG ( *( ( volatile uint32_t * ) 0xe000ed90 ) ) |
| #define portMPU_REGION_BASE_ADDRESS_REG ( *( ( volatile uint32_t * ) 0xe000ed9C ) ) |
| #define portMPU_REGION_ATTRIBUTE_REG ( *( ( volatile uint32_t * ) 0xe000edA0 ) ) |
| #define portMPU_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed94 ) ) |
| #define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */ |
| #define portMPU_ENABLE ( 0x01UL ) |
| #define portMPU_BACKGROUND_ENABLE ( 1UL << 2UL ) |
| #define portPRIVILEGED_EXECUTION_START_ADDRESS ( 0UL ) |
| #define portMPU_REGION_VALID ( 0x10UL ) |
| #define portMPU_REGION_ENABLE ( 0x01UL ) |
| #define portPERIPHERALS_START_ADDRESS 0x40000000UL |
| #define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL |
| |
| /* Constants required to access and manipulate the SysTick. */ |
| #define portNVIC_SYSTICK_INT ( 0x00000002UL ) |
| #define portNVIC_SYSTICK_ENABLE ( 0x00000001UL ) |
| #define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) |
| #define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) |
| #define portNVIC_SVC_PRI ( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL ) |
| |
| /* Constants required to set up the initial stack. */ |
| #define portINITIAL_XPSR ( 0x01000000 ) |
| #define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 ) |
| #define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 ) |
| |
| /* Constants required to check the validity of an interrupt priority. */ |
| #define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) |
| #define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) |
| #define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) ) |
| #define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) |
| #define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) |
| #define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) |
| #define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) |
| #define portPRIGROUP_SHIFT ( 8UL ) |
| |
| /* Offsets in the stack to the parameters when inside the SVC handler. */ |
| #define portOFFSET_TO_PC ( 6 ) |
| |
| /* For strict compliance with the Cortex-M spec the task start address should |
| * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ |
| #define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Configure a number of standard MPU regions that are used by all tasks. |
| */ |
| static void prvSetupMPU( void ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * Return the smallest MPU region size that a given number of bytes will fit |
| * into. The region size is returned as the value that should be programmed |
| * into the region attribute register for that region. |
| */ |
| static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * 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 ); |
| |
| /* |
| * Standard FreeRTOS exception handlers. |
| */ |
| void xPortPendSVHandler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; |
| void xPortSysTickHandler( void ) __attribute__( ( optimize( "3" ) ) ) PRIVILEGED_FUNCTION; |
| void vPortSVCHandler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * Starts the scheduler by restoring the context of the first task to run. |
| */ |
| static void prvRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION; |
| |
| /* |
| * C portion of the SVC handler. The SVC handler is split between an asm entry |
| * and a C wrapper for simplicity of coding and maintenance. |
| */ |
| static void prvSVCHandler( uint32_t * pulRegisters ) __attribute__( ( noinline ) ) PRIVILEGED_FUNCTION; |
| |
| /** |
| * @brief Checks whether or not the processor is privileged. |
| * |
| * @return 1 if the processor is already privileged, 0 otherwise. |
| */ |
| BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) ); |
| |
| /** |
| * @brief Lowers the privilege level by setting the bit 0 of the CONTROL |
| * register. |
| * |
| * Bit 0 of the CONTROL register defines the privilege level of Thread Mode. |
| * Bit[0] = 0 --> The processor is running privileged |
| * Bit[0] = 1 --> The processor is running unprivileged. |
| */ |
| void vResetPrivilege( void ) __attribute__( ( naked ) ); |
| |
| /** |
| * @brief Enter critical section. |
| */ |
| #if( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) |
| void vPortEnterCritical( void ) FREERTOS_SYSTEM_CALL; |
| #else |
| void vPortEnterCritical( void ) PRIVILEGED_FUNCTION; |
| #endif |
| |
| /** |
| * @brief Exit from critical section. |
| */ |
| #if( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) |
| void vPortExitCritical( void ) FREERTOS_SYSTEM_CALL; |
| #else |
| void vPortExitCritical( void ) PRIVILEGED_FUNCTION; |
| #endif |
| /*-----------------------------------------------------------*/ |
| |
| /* Each task maintains its own interrupt status in the critical nesting |
| * variable. Note this is not saved as part of the task context as context |
| * switches can only occur when uxCriticalNesting is zero. */ |
| static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; |
| |
| /* |
| * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure |
| * FreeRTOS API functions are not called from interrupts that have been assigned |
| * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. |
| */ |
| #if ( configASSERT_DEFINED == 1 ) |
| static uint8_t ucMaxSysCallPriority = 0; |
| static uint32_t ulMaxPRIGROUPValue = 0; |
| static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; |
| #endif /* configASSERT_DEFINED */ |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * See header file for description. |
| */ |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters, |
| BaseType_t xRunPrivileged ) |
| { |
| /* Simulate the stack frame as it would be created by a context switch |
| * interrupt. */ |
| 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 ) & portSTART_ADDRESS_MASK; /* PC */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0; /* LR */ |
| pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ |
| *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ |
| pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ |
| |
| if( xRunPrivileged == pdTRUE ) |
| { |
| *pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED; |
| } |
| else |
| { |
| *pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED; |
| } |
| |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortSVCHandler( void ) |
| { |
| /* Assumes psp was in use. */ |
| __asm volatile |
| ( |
| #ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */ |
| " tst lr, #4 \n" |
| " ite eq \n" |
| " mrseq r0, msp \n" |
| " mrsne r0, psp \n" |
| #else |
| " mrs r0, psp \n" |
| #endif |
| " b %0 \n" |
| ::"i" ( prvSVCHandler ) : "r0", "memory" |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvSVCHandler( uint32_t * pulParam ) |
| { |
| uint8_t ucSVCNumber; |
| uint32_t ulPC; |
| |
| #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 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 /* #if defined( __ARMCC_VERSION ) */ |
| #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ |
| |
| /* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR. The first |
| * argument (r0) is pulParam[ 0 ]. */ |
| ulPC = pulParam[ portOFFSET_TO_PC ]; |
| ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ]; |
| |
| switch( ucSVCNumber ) |
| { |
| case portSVC_START_SCHEDULER: |
| portNVIC_SHPR2_REG |= portNVIC_SVC_PRI; |
| prvRestoreContextOfFirstTask(); |
| break; |
| |
| case portSVC_YIELD: |
| 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" ); |
| |
| break; |
| |
| |
| #if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 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__ ) ) |
| { |
| __asm volatile |
| ( |
| " mrs r1, control \n"/* Obtain current control value. */ |
| " bic r1, #1 \n"/* Set privilege bit. */ |
| " msr control, r1 \n"/* Write back new control value. */ |
| ::: "r1", "memory" |
| ); |
| } |
| |
| break; |
| #else /* if ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ |
| case portSVC_RAISE_PRIVILEGE: |
| __asm volatile |
| ( |
| " mrs r1, control \n"/* Obtain current control value. */ |
| " bic r1, #1 \n"/* Set privilege bit. */ |
| " msr control, r1 \n"/* Write back new control value. */ |
| ::: "r1", "memory" |
| ); |
| break; |
| #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */ |
| |
| default: /* Unknown SVC call. */ |
| break; |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvRestoreContextOfFirstTask( void ) |
| { |
| __asm volatile |
| ( |
| " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ |
| " ldr r0, [r0] \n" |
| " ldr r0, [r0] \n" |
| " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ |
| " ldr r3, pxCurrentTCBConst2 \n"/* Restore the context. */ |
| " ldr r1, [r3] \n" |
| " ldr r0, [r1] \n"/* The first item in the TCB is the task top of stack. */ |
| " add r1, r1, #4 \n"/* Move onto the second item in the TCB... */ |
| " \n" |
| " dmb \n"/* Complete outstanding transfers before disabling MPU. */ |
| " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ |
| " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ |
| " bic r3, #1 \n"/* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ |
| " str r3, [r2] \n"/* Disable MPU. */ |
| " \n" |
| " ldr r2, =0xe000ed9c \n"/* Region Base Address register. */ |
| " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers. */ |
| " stmia r2!, {r4-r11} \n"/* Write 4 sets of MPU registers. */ |
| " \n" |
| " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ |
| " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ |
| " orr r3, #1 \n"/* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ |
| " str r3, [r2] \n"/* Enable MPU. */ |
| " dsb \n"/* Force memory writes before continuing. */ |
| " \n" |
| " ldmia r0!, {r3, r4-r11} \n"/* Pop the registers that are not automatically saved on exception entry. */ |
| " msr control, r3 \n" |
| " msr psp, r0 \n"/* Restore the task stack pointer. */ |
| " mov r0, #0 \n" |
| " msr basepri, r0 \n" |
| " ldr r14, =0xfffffffd \n"/* Load exec return code. */ |
| " bx r14 \n" |
| " \n" |
| " .ltorg \n"/* Assemble current literal pool to avoid offset-out-of-bound errors with lto. */ |
| " .align 4 \n" |
| "pxCurrentTCBConst2: .word pxCurrentTCB \n" |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * See header file for description. |
| */ |
| BaseType_t xPortStartScheduler( void ) |
| { |
| /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See |
| * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ |
| configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); |
| |
| #if ( configASSERT_DEFINED == 1 ) |
| { |
| volatile uint32_t ulOriginalPriority; |
| volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); |
| volatile uint8_t ucMaxPriorityValue; |
| |
| /* Determine the maximum priority from which ISR safe FreeRTOS API |
| * functions can be called. ISR safe functions are those that end in |
| * "FromISR". FreeRTOS maintains separate thread and ISR API functions |
| * to ensure interrupt entry is as fast and simple as possible. |
| * |
| * Save the interrupt priority value that is about to be clobbered. */ |
| ulOriginalPriority = *pucFirstUserPriorityRegister; |
| |
| /* Determine the number of priority bits available. First write to all |
| * possible bits. */ |
| *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; |
| |
| /* Read the value back to see how many bits stuck. */ |
| ucMaxPriorityValue = *pucFirstUserPriorityRegister; |
| |
| /* Use the same mask on the maximum system call priority. */ |
| ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; |
| |
| /* Calculate the maximum acceptable priority group value for the number |
| * of bits read back. */ |
| ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; |
| |
| while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) |
| { |
| ulMaxPRIGROUPValue--; |
| ucMaxPriorityValue <<= ( uint8_t ) 0x01; |
| } |
| |
| #ifdef __NVIC_PRIO_BITS |
| { |
| /* Check the CMSIS configuration that defines the number of |
| * priority bits matches the number of priority bits actually queried |
| * from the hardware. */ |
| configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); |
| } |
| #endif |
| |
| #ifdef configPRIO_BITS |
| { |
| /* Check the FreeRTOS configuration that defines the number of |
| * priority bits matches the number of priority bits actually queried |
| * from the hardware. */ |
| configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); |
| } |
| #endif |
| |
| /* Shift the priority group value back to its position within the AIRCR |
| * register. */ |
| ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; |
| ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; |
| |
| /* Restore the clobbered interrupt priority register to its original |
| * value. */ |
| *pucFirstUserPriorityRegister = ulOriginalPriority; |
| } |
| #endif /* configASSERT_DEFINED */ |
| |
| /* Make PendSV and SysTick the same priority as the kernel, and the SVC |
| * handler higher priority so it can be used to exit a critical section (where |
| * lower priorities are masked). */ |
| portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI; |
| portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; |
| |
| /* Configure the regions in the MPU that are common to all tasks. */ |
| prvSetupMPU(); |
| |
| /* Start the timer that generates the tick ISR. Interrupts are disabled |
| * here already. */ |
| vPortSetupTimerInterrupt(); |
| |
| /* Initialise the critical nesting count ready for the first task. */ |
| uxCriticalNesting = 0; |
| |
| /* Start the first task. */ |
| __asm volatile ( |
| " ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */ |
| " ldr r0, [r0] \n" |
| " ldr r0, [r0] \n" |
| " msr msp, r0 \n"/* Set the msp back to the start of the stack. */ |
| " cpsie i \n"/* Globally enable interrupts. */ |
| " cpsie f \n" |
| " dsb \n" |
| " isb \n" |
| " svc %0 \n"/* System call to start first task. */ |
| " nop \n" |
| " .ltorg \n" |
| ::"i" ( portSVC_START_SCHEDULER ) : "memory" ); |
| |
| /* Should not get here! */ |
| return 0; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* Not implemented in ports where there is nothing to return to. |
| * Artificially force an assert. */ |
| configASSERT( uxCriticalNesting == 1000UL ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEnterCritical( void ) |
| { |
| #if( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) |
| if( portIS_PRIVILEGED() == pdFALSE ) |
| { |
| portRAISE_PRIVILEGE(); |
| portMEMORY_BARRIER(); |
| |
| portDISABLE_INTERRUPTS(); |
| uxCriticalNesting++; |
| portMEMORY_BARRIER(); |
| |
| portRESET_PRIVILEGE(); |
| portMEMORY_BARRIER(); |
| } |
| else |
| { |
| portDISABLE_INTERRUPTS(); |
| uxCriticalNesting++; |
| } |
| #else |
| portDISABLE_INTERRUPTS(); |
| uxCriticalNesting++; |
| #endif |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortExitCritical( void ) |
| { |
| #if( configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS == 1 ) |
| if( portIS_PRIVILEGED() == pdFALSE ) |
| { |
| portRAISE_PRIVILEGE(); |
| portMEMORY_BARRIER(); |
| |
| configASSERT( uxCriticalNesting ); |
| uxCriticalNesting--; |
| |
| if( uxCriticalNesting == 0 ) |
| { |
| portENABLE_INTERRUPTS(); |
| } |
| portMEMORY_BARRIER(); |
| |
| portRESET_PRIVILEGE(); |
| portMEMORY_BARRIER(); |
| } |
| else |
| { |
| configASSERT( uxCriticalNesting ); |
| uxCriticalNesting--; |
| |
| if( uxCriticalNesting == 0 ) |
| { |
| portENABLE_INTERRUPTS(); |
| } |
| } |
| #else |
| configASSERT( uxCriticalNesting ); |
| uxCriticalNesting--; |
| |
| if( uxCriticalNesting == 0 ) |
| { |
| portENABLE_INTERRUPTS(); |
| } |
| #endif |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void xPortPendSVHandler( void ) |
| { |
| /* This is a naked function. */ |
| |
| __asm volatile |
| ( |
| " mrs r0, psp \n" |
| " \n" |
| " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */ |
| " ldr r2, [r3] \n" |
| " \n" |
| " mrs r1, control \n" |
| " stmdb r0!, {r1, r4-r11} \n"/* Save the remaining registers. */ |
| " str r0, [r2] \n"/* Save the new top of stack into the first member of the TCB. */ |
| " \n" |
| " stmdb sp!, {r3, r14} \n" |
| " mov r0, %0 \n" |
| " msr basepri, r0 \n" |
| " dsb \n" |
| " isb \n" |
| " bl vTaskSwitchContext \n" |
| " mov r0, #0 \n" |
| " msr basepri, r0 \n" |
| " ldmia sp!, {r3, r14} \n" |
| " \n"/* Restore the context. */ |
| " ldr r1, [r3] \n" |
| " ldr r0, [r1] \n"/* The first item in the TCB is the task top of stack. */ |
| " add r1, r1, #4 \n"/* Move onto the second item in the TCB... */ |
| " \n" |
| " dmb \n"/* Complete outstanding transfers before disabling MPU. */ |
| " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ |
| " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ |
| " bic r3, #1 \n"/* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */ |
| " str r3, [r2] \n"/* Disable MPU. */ |
| " \n" |
| " ldr r2, =0xe000ed9c \n"/* Region Base Address register. */ |
| " ldmia r1!, {r4-r11} \n"/* Read 4 sets of MPU registers. */ |
| " stmia r2!, {r4-r11} \n"/* Write 4 sets of MPU registers. */ |
| " \n" |
| " ldr r2, =0xe000ed94 \n"/* MPU_CTRL register. */ |
| " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */ |
| " orr r3, #1 \n"/* r3 = r3 | 1 i.e. Set the bit 0 in r3. */ |
| " str r3, [r2] \n"/* Enable MPU. */ |
| " dsb \n"/* Force memory writes before continuing. */ |
| " \n" |
| " ldmia r0!, {r3, r4-r11} \n"/* Pop the registers that are not automatically saved on exception entry. */ |
| " msr control, r3 \n" |
| " \n" |
| " msr psp, r0 \n" |
| " bx r14 \n" |
| " \n" |
| " .ltorg \n"/* Assemble current literal pool to avoid offset-out-of-bound errors with lto. */ |
| " .align 4 \n" |
| "pxCurrentTCBConst: .word pxCurrentTCB \n" |
| ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void xPortSysTickHandler( void ) |
| { |
| uint32_t ulDummy; |
| |
| ulDummy = 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( ulDummy ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Setup the systick timer to generate the tick interrupts at the required |
| * frequency. |
| */ |
| __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) |
| { |
| /* Stop and clear 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 | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvSetupMPU( void ) |
| { |
| 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_data_start__[]; |
| extern uint32_t __privileged_data_end__[]; |
| |
| /* Check the expected MPU is present. */ |
| if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE ) |
| { |
| /* First setup the unprivileged flash for unprivileged read only access. */ |
| portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */ |
| ( portMPU_REGION_VALID ) | |
| ( portUNPRIVILEGED_FLASH_REGION ); |
| |
| portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_ONLY ) | |
| ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | |
| ( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) | |
| ( portMPU_REGION_ENABLE ); |
| |
| /* Setup the privileged flash for privileged only access. This is where |
| * the kernel code is * placed. */ |
| portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_functions_start__ ) | /* Base address. */ |
| ( portMPU_REGION_VALID ) | |
| ( portPRIVILEGED_FLASH_REGION ); |
| |
| portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_ONLY ) | |
| ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | |
| ( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __privileged_functions_start__ ) ) | |
| ( portMPU_REGION_ENABLE ); |
| |
| /* Setup the privileged data RAM region. This is where the kernel data |
| * is placed. */ |
| portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */ |
| ( portMPU_REGION_VALID ) | |
| ( portPRIVILEGED_RAM_REGION ); |
| |
| portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_PRIVILEGED_READ_WRITE ) | |
| ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | |
| ( portMPU_REGION_EXECUTE_NEVER ) | |
| prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) | |
| ( portMPU_REGION_ENABLE ); |
| |
| /* By default allow everything to access the general peripherals. The |
| * system peripherals and registers are protected. */ |
| portMPU_REGION_BASE_ADDRESS_REG = ( portPERIPHERALS_START_ADDRESS ) | |
| ( portMPU_REGION_VALID ) | |
| ( portGENERAL_PERIPHERALS_REGION ); |
| |
| portMPU_REGION_ATTRIBUTE_REG = ( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) | |
| ( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) | |
| ( portMPU_REGION_ENABLE ); |
| |
| /* Enable the memory fault exception. */ |
| portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE; |
| |
| /* Enable the MPU with the background region configured. */ |
| portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE ); |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) |
| { |
| uint32_t ulRegionSize, ulReturnValue = 4; |
| |
| /* 32 is the smallest region size, 31 is the largest valid value for |
| * ulReturnValue. */ |
| for( ulRegionSize = 32UL; 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 ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ |
| { |
| __asm volatile |
| ( |
| " mrs r0, control \n"/* r0 = CONTROL. */ |
| " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ |
| " ite ne \n" |
| " movne r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ |
| " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ |
| " bx lr \n"/* Return. */ |
| " \n" |
| " .align 4 \n" |
| ::: "r0", "memory" |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vResetPrivilege( void ) /* __attribute__ (( naked )) */ |
| { |
| __asm volatile |
| ( |
| " mrs r0, control \n"/* r0 = CONTROL. */ |
| " orr r0, #1 \n"/* r0 = r0 | 1. */ |
| " msr control, r0 \n"/* CONTROL = r0. */ |
| " bx lr \n"/* Return to the caller. */ |
| ::: "r0", "memory" |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings, |
| const struct xMEMORY_REGION * const xRegions, |
| StackType_t * pxBottomOfStack, |
| uint32_t ulStackDepth ) |
| { |
| extern uint32_t __SRAM_segment_start__[]; |
| extern uint32_t __SRAM_segment_end__[]; |
| extern uint32_t __privileged_data_start__[]; |
| extern uint32_t __privileged_data_end__[]; |
| int32_t lIndex; |
| uint32_t ul; |
| |
| if( xRegions == NULL ) |
| { |
| /* No MPU regions are specified so allow access to all RAM. */ |
| xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = |
| ( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */ |
| ( portMPU_REGION_VALID ) | |
| ( portSTACK_REGION ); /* Region number. */ |
| |
| xMPUSettings->xRegion[ 0 ].ulRegionAttribute = |
| ( portMPU_REGION_READ_WRITE ) | |
| ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | |
| ( portMPU_REGION_EXECUTE_NEVER ) | |
| ( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) | |
| ( portMPU_REGION_ENABLE ); |
| |
| /* Invalidate user configurable regions. */ |
| for( ul = 1UL; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ ) |
| { |
| xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( ( ul - 1UL ) | portMPU_REGION_VALID ); |
| xMPUSettings->xRegion[ ul ].ulRegionAttribute = 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( ulStackDepth > 0 ) |
| { |
| /* Define the region that allows access to the stack. */ |
| xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress = |
| ( ( uint32_t ) pxBottomOfStack ) | |
| ( portMPU_REGION_VALID ) | |
| ( portSTACK_REGION ); /* Region number. */ |
| |
| xMPUSettings->xRegion[ 0 ].ulRegionAttribute = |
| ( portMPU_REGION_READ_WRITE ) | |
| ( portMPU_REGION_EXECUTE_NEVER ) | |
| ( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) | |
| ( portMPU_REGION_CACHEABLE_BUFFERABLE ) | |
| ( portMPU_REGION_ENABLE ); |
| } |
| |
| 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 CM3 specific MPU settings that are then |
| * stored in xMPUSettings. */ |
| xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = |
| ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) | |
| ( portMPU_REGION_VALID ) | |
| ( ul - 1UL ); /* Region number. */ |
| |
| xMPUSettings->xRegion[ ul ].ulRegionAttribute = |
| ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) | |
| ( xRegions[ lIndex ].ulParameters ) | |
| ( portMPU_REGION_ENABLE ); |
| } |
| else |
| { |
| /* Invalidate the region. */ |
| xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( ( ul - 1UL ) | portMPU_REGION_VALID ); |
| xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL; |
| } |
| |
| lIndex++; |
| } |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configASSERT_DEFINED == 1 ) |
| |
| void vPortValidateInterruptPriority( void ) |
| { |
| uint32_t ulCurrentInterrupt; |
| uint8_t ucCurrentPriority; |
| |
| /* Obtain the number of the currently executing interrupt. */ |
| __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" ); |
| |
| /* Is the interrupt number a user defined interrupt? */ |
| if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) |
| { |
| /* Look up the interrupt's priority. */ |
| ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; |
| |
| /* The following assertion will fail if a service routine (ISR) for |
| * an interrupt that has been assigned a priority above |
| * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API |
| * function. ISR safe FreeRTOS API functions must *only* be called |
| * from interrupts that have been assigned a priority at or below |
| * configMAX_SYSCALL_INTERRUPT_PRIORITY. |
| * |
| * Numerically low interrupt priority numbers represent logically high |
| * interrupt priorities, therefore the priority of the interrupt must |
| * be set to a value equal to or numerically *higher* than |
| * configMAX_SYSCALL_INTERRUPT_PRIORITY. |
| * |
| * Interrupts that use the FreeRTOS API must not be left at their |
| * default priority of zero as that is the highest possible priority, |
| * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, |
| * and therefore also guaranteed to be invalid. |
| * |
| * FreeRTOS maintains separate thread and ISR API functions to ensure |
| * interrupt entry is as fast and simple as possible. |
| * |
| * The following links provide detailed information: |
| * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html |
| * https://www.FreeRTOS.org/FAQHelp.html */ |
| configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); |
| } |
| |
| /* Priority grouping: The interrupt controller (NVIC) allows the bits |
| * that define each interrupt's priority to be split between bits that |
| * define the interrupt's pre-emption priority bits and bits that define |
| * the interrupt's sub-priority. For simplicity all bits must be defined |
| * to be pre-emption priority bits. The following assertion will fail if |
| * this is not the case (if some bits represent a sub-priority). |
| * |
| * If the application only uses CMSIS libraries for interrupt |
| * configuration then the correct setting can be achieved on all Cortex-M |
| * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the |
| * scheduler. Note however that some vendor specific peripheral libraries |
| * assume a non-zero priority group setting, in which cases using a value |
| * of zero will result in unpredicable behaviour. */ |
| configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); |
| } |
| |
| #endif /* configASSERT_DEFINED */ |
| /*-----------------------------------------------------------*/ |
