2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Device includes. */
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29 #include <arm_cmse.h>
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30 #include "NuMicro.h"
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32 /* FreeRTOS includes. */
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33 #include "FreeRTOS.h"
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36 /* Demo includes. */
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37 #include "tz_demo.h"
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38 #include "mpu_demo.h"
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40 /* Externs needed by the MPU setup code. These must match the memory map as
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41 * specified in Scatter-Loading description file (FreeRTOSDemo_ns.sct). */
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42 /* Privileged flash. */
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43 const uint32_t * __privileged_functions_start__ = ( uint32_t * ) ( 0x10040000 );
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44 const uint32_t * __privileged_functions_end__ = ( uint32_t * ) ( 0x10047000 - 0x1 ); /* Last address in privileged Flash region. */
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46 /* Flash containing system calls. Note that the section containing system calls
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47 * is unprivileged so that unprivileged tasks can make system calls.*/
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48 const uint32_t * __syscalls_flash_start__ = ( uint32_t * ) ( 0x10047000 );
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49 const uint32_t * __syscalls_flash_end__ = ( uint32_t * ) ( 0x10048000 - 0x1 ); /* Last address in Flash region containing system calls. */
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51 /* Unprivileged flash. */
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52 const uint32_t * __unprivileged_flash_start__ = ( uint32_t * ) ( 0x10048000 );
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53 const uint32_t * __unprivileged_flash_end__ = ( uint32_t * ) ( 0x10080000 - 0x1 ); /* Last address in un-privileged Flash region. */
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55 /* Privileged RAM. It contains kernel data. */
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56 const uint32_t * __privileged_sram_start__ = ( uint32_t * ) ( 0x30008000 );
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57 const uint32_t * __privileged_sram_end__ = ( uint32_t * ) ( 0x30009000 - 0x1 ); /* Last address in privileged RAM. */
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59 /* Unprivileged RAM. */
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60 const uint32_t * __unprivileged_sram_start__ = ( uint32_t * ) ( 0x30009000 );
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61 const uint32_t * __unprivileged_sram_end__ = ( uint32_t * ) ( 0x30018000 - 0x1 ); /* Last address in un-privileged RAM. */
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62 /*-----------------------------------------------------------*/
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65 * @brief Create all demo tasks.
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67 static void prvCreateTasks( void );
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70 * @brief The hard fault handler.
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72 * It calls a function called vHandleMemoryFault.
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74 void HardFault_Handler( void ) __attribute__ ( ( naked ) );
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75 /*-----------------------------------------------------------*/
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77 static void prvCreateTasks( void )
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79 /* Create tasks for the MPU Demo. */
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82 /* Create tasks for the TZ Demo. */
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86 /*-----------------------------------------------------------*/
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88 /* Stack overflow hook. */
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89 void vApplicationStackOverflowHook( TaskHandle_t xTask, signed char *pcTaskName )
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91 /* Force an assert. */
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92 configASSERT( pcTaskName == 0 );
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94 /*-----------------------------------------------------------*/
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96 /* Non-Secure main. */
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99 /* Initialize debug port. */
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100 DEBUG_PORT->BAUD = UART_BAUD_MODE2 | UART_BAUD_MODE2_DIVIDER( __HIRC, 115200 );
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101 DEBUG_PORT->LINE = UART_WORD_LEN_8 | UART_PARITY_NONE | UART_STOP_BIT_1;
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103 /* Print banner. */
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105 printf( "+---------------------------------------------+\n" );
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106 printf( "| Nonsecure is running ... |\n" );
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107 printf( "+---------------------------------------------+\n" );
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109 /* Create tasks. */
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112 /* Start scheduler. */
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113 vTaskStartScheduler();
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115 /* Should not reach here as the schedular is already started. */
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120 /*-----------------------------------------------------------*/
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122 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
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123 * implementation of vApplicationGetIdleTaskMemory() to provide the memory that
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124 * is used by the Idle task. */
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125 void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
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126 StackType_t ** ppxIdleTaskStackBuffer,
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127 uint32_t * pulIdleTaskStackSize )
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129 /* If the buffers to be provided to the Idle task are declared inside this
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130 * function then they must be declared static - otherwise they will be
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131 * allocated on the stack and so not exists after this function exits. */
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132 static StaticTask_t xIdleTaskTCB;
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133 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
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135 /* Pass out a pointer to the StaticTask_t structure in which the Idle
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136 * task's state will be stored. */
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137 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
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139 /* Pass out the array that will be used as the Idle task's stack. */
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140 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
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142 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
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143 * Note that, as the array is necessarily of type StackType_t,
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144 * configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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145 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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147 /*-----------------------------------------------------------*/
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149 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
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150 * application must provide an implementation of vApplicationGetTimerTaskMemory()
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151 * to provide the memory that is used by the Timer service task. */
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152 void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
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153 StackType_t ** ppxTimerTaskStackBuffer,
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154 uint32_t * pulTimerTaskStackSize )
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156 /* If the buffers to be provided to the Timer task are declared inside this
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157 * function then they must be declared static - otherwise they will be
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158 * allocated on the stack and so not exists after this function exits. */
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159 static StaticTask_t xTimerTaskTCB;
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160 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ] __attribute__( ( aligned( 32 ) ) );
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162 /* Pass out a pointer to the StaticTask_t structure in which the Timer
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163 * task's state will be stored. */
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164 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
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166 /* Pass out the array that will be used as the Timer task's stack. */
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167 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
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169 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
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170 * Note that, as the array is necessarily of type StackType_t,
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171 * configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
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172 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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174 /*-----------------------------------------------------------*/
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176 void HardFault_Handler( void )
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183 " beq stacking_used_msp \n"
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185 " ldr r2, handler_address_const \n"
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187 "stacking_used_msp: \n"
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189 " ldr r2, handler_address_const \n"
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193 " handler_address_const: .word vHandleMemoryFault \n"
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196 /*-----------------------------------------------------------*/
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