2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 /*-----------------------------------------------------------
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55 * Implementation of functions defined in portable.h for the ARM CM3 port.
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56 *----------------------------------------------------------*/
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58 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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59 all the API functions to use the MPU wrappers. That should only be done when
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60 task.h is included from an application file. */
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61 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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63 /* Scheduler includes. */
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64 #include "FreeRTOS.h"
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68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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70 /* Constants required to access and manipulate the NVIC. */
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71 #define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 )
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72 #define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 )
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73 #define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 0xe000ed20 )
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74 #define portNVIC_SYSPRI1 ( ( volatile unsigned long * ) 0xe000ed1c )
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75 #define portNVIC_SYS_CTRL_STATE ( ( volatile unsigned long * ) 0xe000ed24 )
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76 #define portNVIC_MEM_FAULT_ENABLE ( 1UL << 16UL )
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78 /* Constants required to access and manipulate the MPU. */
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79 #define portMPU_TYPE ( ( volatile unsigned long * ) 0xe000ed90 )
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80 #define portMPU_REGION_BASE_ADDRESS ( ( volatile unsigned long * ) 0xe000ed9C )
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81 #define portMPU_REGION_ATTRIBUTE ( ( volatile unsigned long * ) 0xe000edA0 )
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82 #define portMPU_CTRL ( ( volatile unsigned long * ) 0xe000ed94 )
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83 #define portEXPECTED_MPU_TYPE_VALUE ( 8UL << 8UL ) /* 8 regions, unified. */
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84 #define portMPU_ENABLE ( 0x01UL )
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85 #define portMPU_BACKGROUND_ENABLE ( 1UL << 2UL )
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86 #define portPRIVILEGED_EXECUTION_START_ADDRESS ( 0UL )
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87 #define portMPU_REGION_VALID ( 0x10UL )
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88 #define portMPU_REGION_ENABLE ( 0x01UL )
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89 #define portPERIPHERALS_START_ADDRESS 0x40000000UL
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90 #define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL
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92 /* Constants required to access and manipulate the SysTick. */
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93 #define portNVIC_SYSTICK_CLK ( 0x00000004UL )
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94 #define portNVIC_SYSTICK_INT ( 0x00000002UL )
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95 #define portNVIC_SYSTICK_ENABLE ( 0x00000001UL )
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96 #define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
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97 #define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
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98 #define portNVIC_SVC_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
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100 /* Constants required to set up the initial stack. */
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101 #define portINITIAL_XPSR ( 0x01000000 )
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102 #define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 )
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103 #define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 )
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105 /* Offsets in the stack to the parameters when inside the SVC handler. */
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106 #define portOFFSET_TO_PC ( 6 )
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108 /* Set the privilege level to user mode if xRunningPrivileged is false. */
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109 #define portRESET_PRIVILEGE( xRunningPrivileged ) if( xRunningPrivileged != pdTRUE ) __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0" :::"r0" )
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111 /* Each task maintains its own interrupt status in the critical nesting
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112 variable. Note this is not saved as part of the task context as context
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113 switches can only occur when uxCriticalNesting is zero. */
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114 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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117 * Setup the timer to generate the tick interrupts.
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119 static void prvSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;
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122 * Configure a number of standard MPU regions that are used by all tasks.
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124 static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
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127 * Return the smallest MPU region size that a given number of bytes will fit
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128 * into. The region size is returned as the value that should be programmed
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129 * into the region attribute register for that region.
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131 static unsigned long prvGetMPURegionSizeSetting( unsigned long ulActualSizeInBytes ) PRIVILEGED_FUNCTION;
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134 * Checks to see if being called from the context of an unprivileged task, and
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135 * if so raises the privilege level and returns false - otherwise does nothing
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136 * other than return true.
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138 static portBASE_TYPE prvRaisePrivilege( void ) __attribute__(( naked ));
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141 * Standard FreeRTOS exception handlers.
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143 void xPortPendSVHandler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
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144 void xPortSysTickHandler( void ) __attribute__ ((optimize("3"))) PRIVILEGED_FUNCTION;
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145 void vPortSVCHandler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
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148 * Starts the scheduler by restoring the context of the first task to run.
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150 static void prvRestoreContextOfFirstTask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
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153 * C portion of the SVC handler. The SVC handler is split between an asm entry
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154 * and a C wrapper for simplicity of coding and maintenance.
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156 static void prvSVCHandler( unsigned long *pulRegisters ) __attribute__(( noinline )) PRIVILEGED_FUNCTION;
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159 * Prototypes for all the MPU wrappers.
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161 signed portBASE_TYPE MPU_xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions );
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162 void MPU_vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const xRegions );
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163 void MPU_vTaskDelete( xTaskHandle pxTaskToDelete );
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164 void MPU_vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement );
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165 void MPU_vTaskDelay( portTickType xTicksToDelay );
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166 unsigned portBASE_TYPE MPU_uxTaskPriorityGet( xTaskHandle pxTask );
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167 void MPU_vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
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168 void MPU_vTaskSuspend( xTaskHandle pxTaskToSuspend );
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169 signed portBASE_TYPE MPU_xTaskIsTaskSuspended( xTaskHandle xTask );
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170 void MPU_vTaskResume( xTaskHandle pxTaskToResume );
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171 void MPU_vTaskSuspendAll( void );
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172 signed portBASE_TYPE MPU_xTaskResumeAll( void );
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173 portTickType MPU_xTaskGetTickCount( void );
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174 unsigned portBASE_TYPE MPU_uxTaskGetNumberOfTasks( void );
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175 void MPU_vTaskList( signed char *pcWriteBuffer );
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176 void MPU_vTaskGetRunTimeStats( signed char *pcWriteBuffer );
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177 void MPU_vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize );
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178 unsigned long MPU_ulTaskEndTrace( void );
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179 void MPU_vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue );
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180 pdTASK_HOOK_CODE MPU_xTaskGetApplicationTaskTag( xTaskHandle xTask );
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181 portBASE_TYPE MPU_xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter );
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182 unsigned portBASE_TYPE MPU_uxTaskGetStackHighWaterMark( xTaskHandle xTask );
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183 xTaskHandle MPU_xTaskGetCurrentTaskHandle( void );
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184 portBASE_TYPE MPU_xTaskGetSchedulerState( void );
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185 xQueueHandle MPU_xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );
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186 signed portBASE_TYPE MPU_xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
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187 unsigned portBASE_TYPE MPU_uxQueueMessagesWaiting( const xQueueHandle pxQueue );
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188 signed portBASE_TYPE MPU_xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
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189 xQueueHandle MPU_xQueueCreateMutex( void );
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190 xQueueHandle MPU_xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );
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191 portBASE_TYPE MPU_xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );
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192 portBASE_TYPE MPU_xQueueGiveMutexRecursive( xQueueHandle xMutex );
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193 signed portBASE_TYPE MPU_xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
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194 signed portBASE_TYPE MPU_xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
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195 void MPU_vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName );
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196 void *MPU_pvPortMalloc( size_t xSize );
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197 void MPU_vPortFree( void *pv );
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198 void MPU_vPortInitialiseBlocks( void );
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199 size_t MPU_xPortGetFreeHeapSize( void );
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201 /*-----------------------------------------------------------*/
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204 * See header file for description.
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206 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged )
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208 /* Simulate the stack frame as it would be created by a context switch
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210 pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
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211 *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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213 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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215 *pxTopOfStack = 0; /* LR */
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216 pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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217 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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218 pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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220 if( xRunPrivileged == pdTRUE )
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222 *pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED;
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226 *pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED;
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229 return pxTopOfStack;
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231 /*-----------------------------------------------------------*/
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233 void vPortSVCHandler( void )
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235 /* Assumes psp was in use. */
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238 #ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */
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241 " mrseq r0, msp \n"
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242 " mrsne r0, psp \n"
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246 " b prvSVCHandler \n"
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250 /* This will never get executed, but is required to prevent prvSVCHandler
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251 being removed by the optimiser. */
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252 prvSVCHandler( NULL );
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254 /*-----------------------------------------------------------*/
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256 static void prvSVCHandler( unsigned long *pulParam )
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258 unsigned char ucSVCNumber;
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260 /* The stack contains: r0, r1, r2, r3, r12, r14, the return address and
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261 xPSR. The first argument (r0) is pulParam[ 0 ]. */
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262 ucSVCNumber = ( ( unsigned char * ) pulParam[ portOFFSET_TO_PC ] )[ -2 ];
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263 switch( ucSVCNumber )
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265 case portSVC_START_SCHEDULER : *(portNVIC_SYSPRI1) |= portNVIC_SVC_PRI;
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266 prvRestoreContextOfFirstTask();
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269 case portSVC_YIELD : *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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272 case portSVC_RAISE_PRIVILEGE : __asm volatile
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274 " mrs r1, control \n" /* Obtain current control value. */
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275 " bic r1, #1 \n" /* Set privilege bit. */
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276 " msr control, r1 \n" /* Write back new control value. */
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281 default : /* Unknown SVC call. */
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285 /*-----------------------------------------------------------*/
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287 static void prvRestoreContextOfFirstTask( void )
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291 " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
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294 " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
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295 " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
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297 " ldr r0, [r1] \n" /* The first item in the TCB is the task top of stack. */
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298 " add r1, r1, #4 \n" /* Move onto the second item in the TCB... */
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299 " ldr r2, =0xe000ed9c \n" /* Region Base Address register. */
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300 " ldmia r1!, {r4-r11} \n" /* Read 4 sets of MPU registers. */
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301 " stmia r2!, {r4-r11} \n" /* Write 4 sets of MPU registers. */
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302 " ldmia r0!, {r3, r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry. */
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303 " msr control, r3 \n"
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304 " msr psp, r0 \n" /* Restore the task stack pointer. */
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306 " msr basepri, r0 \n"
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307 " ldr r14, =0xfffffffd \n" /* Load exec return code. */
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311 "pxCurrentTCBConst2: .word pxCurrentTCB \n"
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314 /*-----------------------------------------------------------*/
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317 * See header file for description.
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319 portBASE_TYPE xPortStartScheduler( void )
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321 /* Make PendSV and SysTick the same priroity as the kernel. */
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322 *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
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323 *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
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325 /* Configure the regions in the MPU that are common to all tasks. */
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328 /* Start the timer that generates the tick ISR. Interrupts are disabled
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330 prvSetupTimerInterrupt();
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332 /* Initialise the critical nesting count ready for the first task. */
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333 uxCriticalNesting = 0;
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335 /* Start the first task. */
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336 __asm volatile( " svc %0 \n"
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337 :: "i" (portSVC_START_SCHEDULER) );
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339 /* Should not get here! */
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342 /*-----------------------------------------------------------*/
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344 void vPortEndScheduler( void )
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346 /* It is unlikely that the CM3 port will require this function as there
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347 is nothing to return to. */
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349 /*-----------------------------------------------------------*/
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351 void vPortEnterCritical( void )
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353 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
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355 portDISABLE_INTERRUPTS();
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356 uxCriticalNesting++;
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358 portRESET_PRIVILEGE( xRunningPrivileged );
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360 /*-----------------------------------------------------------*/
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362 void vPortExitCritical( void )
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364 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
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366 uxCriticalNesting--;
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367 if( uxCriticalNesting == 0 )
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369 portENABLE_INTERRUPTS();
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371 portRESET_PRIVILEGE( xRunningPrivileged );
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373 /*-----------------------------------------------------------*/
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375 void xPortPendSVHandler( void )
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377 /* This is a naked function. */
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383 " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
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386 " mrs r1, control \n"
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387 " stmdb r0!, {r1, r4-r11} \n" /* Save the remaining registers. */
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388 " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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390 " stmdb sp!, {r3, r14} \n"
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392 " msr basepri, r0 \n"
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393 " bl vTaskSwitchContext \n"
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395 " msr basepri, r0 \n"
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396 " ldmia sp!, {r3, r14} \n"
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397 " \n" /* Restore the context. */
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399 " ldr r0, [r1] \n" /* The first item in the TCB is the task top of stack. */
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400 " add r1, r1, #4 \n" /* Move onto the second item in the TCB... */
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401 " ldr r2, =0xe000ed9c \n" /* Region Base Address register. */
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402 " ldmia r1!, {r4-r11} \n" /* Read 4 sets of MPU registers. */
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403 " stmia r2!, {r4-r11} \n" /* Write 4 sets of MPU registers. */
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404 " ldmia r0!, {r3, r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry. */
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405 " msr control, r3 \n"
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411 "pxCurrentTCBConst: .word pxCurrentTCB \n"
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412 ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
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415 /*-----------------------------------------------------------*/
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417 void xPortSysTickHandler( void )
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419 unsigned long ulDummy;
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421 /* If using preemption, also force a context switch. */
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422 #if configUSE_PREEMPTION == 1
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423 *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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426 ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
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428 vTaskIncrementTick();
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430 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
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432 /*-----------------------------------------------------------*/
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435 * Setup the systick timer to generate the tick interrupts at the required
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438 static void prvSetupTimerInterrupt( void )
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440 /* Configure SysTick to interrupt at the requested rate. */
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441 *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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442 *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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444 /*-----------------------------------------------------------*/
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446 static void prvSetupMPU( void )
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448 extern unsigned long __privileged_functions_end__[];
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449 extern unsigned long __FLASH_segment_start__[];
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450 extern unsigned long __FLASH_segment_end__[];
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451 extern unsigned long __privileged_data_start__[];
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452 extern unsigned long __privileged_data_end__[];
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454 /* Check the expected MPU is present. */
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455 if( *portMPU_TYPE == portEXPECTED_MPU_TYPE_VALUE )
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457 /* First setup the entire flash for unprivileged read only access. */
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458 *portMPU_REGION_BASE_ADDRESS = ( ( unsigned long ) __FLASH_segment_start__ ) | /* Base address. */
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459 ( portMPU_REGION_VALID ) |
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460 ( portUNPRIVILEGED_FLASH_REGION );
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462 *portMPU_REGION_ATTRIBUTE = ( portMPU_REGION_READ_ONLY ) |
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463 ( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
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464 ( prvGetMPURegionSizeSetting( ( unsigned long ) __FLASH_segment_end__ - ( unsigned long ) __FLASH_segment_start__ ) ) |
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465 ( portMPU_REGION_ENABLE );
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467 /* Setup the first 16K for privileged only access (even though less
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468 than 10K is actually being used). This is where the kernel code is
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470 *portMPU_REGION_BASE_ADDRESS = ( ( unsigned long ) __FLASH_segment_start__ ) | /* Base address. */
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471 ( portMPU_REGION_VALID ) |
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472 ( portPRIVILEGED_FLASH_REGION );
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474 *portMPU_REGION_ATTRIBUTE = ( portMPU_REGION_PRIVILEGED_READ_ONLY ) |
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475 ( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
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476 ( prvGetMPURegionSizeSetting( ( unsigned long ) __privileged_functions_end__ - ( unsigned long ) __FLASH_segment_start__ ) ) |
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477 ( portMPU_REGION_ENABLE );
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479 /* Setup the privileged data RAM region. This is where the kernel data
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481 *portMPU_REGION_BASE_ADDRESS = ( ( unsigned long ) __privileged_data_start__ ) | /* Base address. */
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482 ( portMPU_REGION_VALID ) |
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483 ( portPRIVILEGED_RAM_REGION );
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485 *portMPU_REGION_ATTRIBUTE = ( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
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486 ( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
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487 prvGetMPURegionSizeSetting( ( unsigned long ) __privileged_data_end__ - ( unsigned long ) __privileged_data_start__ ) |
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488 ( portMPU_REGION_ENABLE );
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490 /* By default allow everything to access the general peripherals. The
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491 system peripherals and registers are protected. */
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492 *portMPU_REGION_BASE_ADDRESS = ( portPERIPHERALS_START_ADDRESS ) |
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493 ( portMPU_REGION_VALID ) |
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494 ( portGENERAL_PERIPHERALS_REGION );
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496 *portMPU_REGION_ATTRIBUTE = ( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) |
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497 ( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) |
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498 ( portMPU_REGION_ENABLE );
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500 /* Enable the memory fault exception. */
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501 *portNVIC_SYS_CTRL_STATE |= portNVIC_MEM_FAULT_ENABLE;
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503 /* Enable the MPU with the background region configured. */
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504 *portMPU_CTRL |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE );
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507 /*-----------------------------------------------------------*/
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509 static unsigned long prvGetMPURegionSizeSetting( unsigned long ulActualSizeInBytes )
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511 unsigned long ulRegionSize, ulReturnValue = 4;
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513 /* 32 is the smallest region size, 31 is the largest valid value for
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515 for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) )
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517 if( ulActualSizeInBytes <= ulRegionSize )
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527 /* Shift the code by one before returning so it can be written directly
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528 into the the correct bit position of the attribute register. */
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529 return ( ulReturnValue << 1UL );
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531 /*-----------------------------------------------------------*/
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533 static portBASE_TYPE prvRaisePrivilege( void )
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537 " mrs r0, control \n"
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538 " tst r0, #1 \n" /* Is the task running privileged? */
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540 " movne r0, #0 \n" /* CONTROL[0]!=0, return false. */
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541 " svcne %0 \n" /* Switch to privileged. */
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542 " moveq r0, #1 \n" /* CONTROL[0]==0, return true. */
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544 :: "i" (portSVC_RAISE_PRIVILEGE) : "r0"
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549 /*-----------------------------------------------------------*/
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551 void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth )
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553 extern unsigned long __SRAM_segment_start__[];
\r
554 extern unsigned long __SRAM_segment_end__[];
\r
555 extern unsigned long __privileged_data_start__[];
\r
556 extern unsigned long __privileged_data_end__[];
\r
560 if( xRegions == NULL )
\r
562 /* No MPU regions are specified so allow access to all RAM. */
\r
563 xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
\r
564 ( ( unsigned long ) __SRAM_segment_start__ ) | /* Base address. */
\r
565 ( portMPU_REGION_VALID ) |
\r
566 ( portSTACK_REGION );
\r
568 xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
\r
569 ( portMPU_REGION_READ_WRITE ) |
\r
570 ( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
\r
571 ( prvGetMPURegionSizeSetting( ( unsigned long ) __SRAM_segment_end__ - ( unsigned long ) __SRAM_segment_start__ ) ) |
\r
572 ( portMPU_REGION_ENABLE );
\r
574 /* Re-instate the privileged only RAM region as xRegion[ 0 ] will have
\r
575 just removed the privileged only parameters. */
\r
576 xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress =
\r
577 ( ( unsigned long ) __privileged_data_start__ ) | /* Base address. */
\r
578 ( portMPU_REGION_VALID ) |
\r
579 ( portSTACK_REGION + 1 );
\r
581 xMPUSettings->xRegion[ 1 ].ulRegionAttribute =
\r
582 ( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
\r
583 ( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
\r
584 prvGetMPURegionSizeSetting( ( unsigned long ) __privileged_data_end__ - ( unsigned long ) __privileged_data_start__ ) |
\r
585 ( portMPU_REGION_ENABLE );
\r
587 /* Invalidate all other regions. */
\r
588 for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
\r
590 xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
\r
591 xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
\r
596 /* This function is called automatically when the task is created - in
\r
597 which case the stack region parameters will be valid. At all other
\r
598 times the stack parameters will not be valid and it is assumed that the
\r
599 stack region has already been configured. */
\r
600 if( usStackDepth > 0 )
\r
602 /* Define the region that allows access to the stack. */
\r
603 xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
\r
604 ( ( unsigned long ) pxBottomOfStack ) |
\r
605 ( portMPU_REGION_VALID ) |
\r
606 ( portSTACK_REGION ); /* Region number. */
\r
608 xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
\r
609 ( portMPU_REGION_READ_WRITE ) | /* Read and write. */
\r
610 ( prvGetMPURegionSizeSetting( ( unsigned long ) usStackDepth * ( unsigned long ) sizeof( portSTACK_TYPE ) ) ) |
\r
611 ( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
\r
612 ( portMPU_REGION_ENABLE );
\r
617 for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
\r
619 if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL )
\r
621 /* Translate the generic region definition contained in
\r
622 xRegions into the CM3 specific MPU settings that are then
\r
623 stored in xMPUSettings. */
\r
624 xMPUSettings->xRegion[ ul ].ulRegionBaseAddress =
\r
625 ( ( unsigned long ) xRegions[ lIndex ].pvBaseAddress ) |
\r
626 ( portMPU_REGION_VALID ) |
\r
627 ( portSTACK_REGION + ul ); /* Region number. */
\r
629 xMPUSettings->xRegion[ ul ].ulRegionAttribute =
\r
630 ( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) |
\r
631 ( xRegions[ lIndex ].ulParameters ) |
\r
632 ( portMPU_REGION_ENABLE );
\r
636 /* Invalidate the region. */
\r
637 xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
\r
638 xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
\r
645 /*-----------------------------------------------------------*/
\r
647 signed portBASE_TYPE MPU_xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
\r
649 signed portBASE_TYPE xReturn;
\r
650 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
652 xReturn = xTaskGenericCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, puxStackBuffer, xRegions );
\r
653 portRESET_PRIVILEGE( xRunningPrivileged );
\r
656 /*-----------------------------------------------------------*/
\r
658 void MPU_vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const xRegions )
\r
660 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
662 vTaskAllocateMPURegions( xTask, xRegions );
\r
663 portRESET_PRIVILEGE( xRunningPrivileged );
\r
665 /*-----------------------------------------------------------*/
\r
667 #if ( INCLUDE_vTaskDelete == 1 )
\r
668 void MPU_vTaskDelete( xTaskHandle pxTaskToDelete )
\r
670 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
672 vTaskDelete( pxTaskToDelete );
\r
673 portRESET_PRIVILEGE( xRunningPrivileged );
\r
676 /*-----------------------------------------------------------*/
\r
678 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
679 void MPU_vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
681 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
683 vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
\r
684 portRESET_PRIVILEGE( xRunningPrivileged );
\r
687 /*-----------------------------------------------------------*/
\r
689 #if ( INCLUDE_vTaskDelay == 1 )
\r
690 void MPU_vTaskDelay( portTickType xTicksToDelay )
\r
692 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
694 vTaskDelay( xTicksToDelay );
\r
695 portRESET_PRIVILEGE( xRunningPrivileged );
\r
698 /*-----------------------------------------------------------*/
\r
700 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
701 unsigned portBASE_TYPE MPU_uxTaskPriorityGet( xTaskHandle pxTask )
\r
703 unsigned portBASE_TYPE uxReturn;
\r
704 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
706 uxReturn = uxTaskPriorityGet( pxTask );
\r
707 portRESET_PRIVILEGE( xRunningPrivileged );
\r
711 /*-----------------------------------------------------------*/
\r
713 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
714 void MPU_vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
716 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
718 vTaskPrioritySet( pxTask, uxNewPriority );
\r
719 portRESET_PRIVILEGE( xRunningPrivileged );
\r
722 /*-----------------------------------------------------------*/
\r
724 #if ( INCLUDE_vTaskSuspend == 1 )
\r
725 void MPU_vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
727 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
729 vTaskSuspend( pxTaskToSuspend );
\r
730 portRESET_PRIVILEGE( xRunningPrivileged );
\r
733 /*-----------------------------------------------------------*/
\r
735 #if ( INCLUDE_vTaskSuspend == 1 )
\r
736 signed portBASE_TYPE MPU_xTaskIsTaskSuspended( xTaskHandle xTask )
\r
738 signed portBASE_TYPE xReturn;
\r
739 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
741 xReturn = xTaskIsTaskSuspended( xTask );
\r
742 portRESET_PRIVILEGE( xRunningPrivileged );
\r
746 /*-----------------------------------------------------------*/
\r
748 #if ( INCLUDE_vTaskSuspend == 1 )
\r
749 void MPU_vTaskResume( xTaskHandle pxTaskToResume )
\r
751 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
753 vTaskResume( pxTaskToResume );
\r
754 portRESET_PRIVILEGE( xRunningPrivileged );
\r
757 /*-----------------------------------------------------------*/
\r
759 void MPU_vTaskSuspendAll( void )
\r
761 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
764 portRESET_PRIVILEGE( xRunningPrivileged );
\r
766 /*-----------------------------------------------------------*/
\r
768 signed portBASE_TYPE MPU_xTaskResumeAll( void )
\r
770 signed portBASE_TYPE xReturn;
\r
771 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
773 xReturn = xTaskResumeAll();
\r
774 portRESET_PRIVILEGE( xRunningPrivileged );
\r
777 /*-----------------------------------------------------------*/
\r
779 portTickType MPU_xTaskGetTickCount( void )
\r
781 portTickType xReturn;
\r
782 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
784 xReturn = xTaskGetTickCount();
\r
785 portRESET_PRIVILEGE( xRunningPrivileged );
\r
788 /*-----------------------------------------------------------*/
\r
790 unsigned portBASE_TYPE MPU_uxTaskGetNumberOfTasks( void )
\r
792 unsigned portBASE_TYPE uxReturn;
\r
793 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
795 uxReturn = uxTaskGetNumberOfTasks();
\r
796 portRESET_PRIVILEGE( xRunningPrivileged );
\r
799 /*-----------------------------------------------------------*/
\r
801 #if ( configUSE_TRACE_FACILITY == 1 )
\r
802 void MPU_vTaskList( signed char *pcWriteBuffer )
\r
804 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
806 vTaskList( pcWriteBuffer );
\r
807 portRESET_PRIVILEGE( xRunningPrivileged );
\r
810 /*-----------------------------------------------------------*/
\r
812 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
813 void MPU_vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
815 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
817 vTaskGetRunTimeStats( pcWriteBuffer );
\r
818 portRESET_PRIVILEGE( xRunningPrivileged );
\r
821 /*-----------------------------------------------------------*/
\r
823 #if ( configUSE_TRACE_FACILITY == 1 )
\r
824 void MPU_vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
826 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
828 vTaskStartTrace( pcBuffer, ulBufferSize );
\r
829 portRESET_PRIVILEGE( xRunningPrivileged );
\r
832 /*-----------------------------------------------------------*/
\r
834 #if ( configUSE_TRACE_FACILITY == 1 )
\r
835 unsigned long MPU_ulTaskEndTrace( void )
\r
837 unsigned long ulReturn;
\r
838 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
840 ulReturn = ulTaskEndTrace();
\r
841 portRESET_PRIVILEGE( xRunningPrivileged );
\r
845 /*-----------------------------------------------------------*/
\r
847 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
848 void MPU_vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
850 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
852 vTaskSetApplicationTaskTag( xTask, pxTagValue );
\r
853 portRESET_PRIVILEGE( xRunningPrivileged );
\r
856 /*-----------------------------------------------------------*/
\r
858 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
859 pdTASK_HOOK_CODE MPU_xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
861 pdTASK_HOOK_CODE xReturn;
\r
862 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
864 xReturn = xTaskGetApplicationTaskTag( xTask );
\r
865 portRESET_PRIVILEGE( xRunningPrivileged );
\r
869 /*-----------------------------------------------------------*/
\r
871 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
872 portBASE_TYPE MPU_xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
874 portBASE_TYPE xReturn;
\r
875 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
877 xReturn = xTaskCallApplicationTaskHook( xTask, pvParameter );
\r
878 portRESET_PRIVILEGE( xRunningPrivileged );
\r
882 /*-----------------------------------------------------------*/
\r
884 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
885 unsigned portBASE_TYPE MPU_uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
887 unsigned portBASE_TYPE uxReturn;
\r
888 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
890 uxReturn = uxTaskGetStackHighWaterMark( xTask );
\r
891 portRESET_PRIVILEGE( xRunningPrivileged );
\r
895 /*-----------------------------------------------------------*/
\r
897 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
898 xTaskHandle MPU_xTaskGetCurrentTaskHandle( void )
\r
900 xTaskHandle xReturn;
\r
901 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
903 xReturn = xTaskGetCurrentTaskHandle();
\r
904 portRESET_PRIVILEGE( xRunningPrivileged );
\r
908 /*-----------------------------------------------------------*/
\r
910 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
911 portBASE_TYPE MPU_xTaskGetSchedulerState( void )
\r
913 portBASE_TYPE xReturn;
\r
914 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
916 xReturn = xTaskGetSchedulerState();
\r
917 portRESET_PRIVILEGE( xRunningPrivileged );
\r
921 /*-----------------------------------------------------------*/
\r
923 xQueueHandle MPU_xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize )
\r
925 xQueueHandle xReturn;
\r
926 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
928 xReturn = xQueueCreate( uxQueueLength, uxItemSize );
\r
929 portRESET_PRIVILEGE( xRunningPrivileged );
\r
932 /*-----------------------------------------------------------*/
\r
934 signed portBASE_TYPE MPU_xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
\r
936 signed portBASE_TYPE xReturn;
\r
937 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
939 xReturn = xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, xCopyPosition );
\r
940 portRESET_PRIVILEGE( xRunningPrivileged );
\r
943 /*-----------------------------------------------------------*/
\r
945 unsigned portBASE_TYPE MPU_uxQueueMessagesWaiting( const xQueueHandle pxQueue )
\r
947 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
948 unsigned portBASE_TYPE uxReturn;
\r
950 uxReturn = uxQueueMessagesWaiting( pxQueue );
\r
951 portRESET_PRIVILEGE( xRunningPrivileged );
\r
954 /*-----------------------------------------------------------*/
\r
956 signed portBASE_TYPE MPU_xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
\r
958 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
959 signed portBASE_TYPE xReturn;
\r
961 xReturn = xQueueGenericReceive( pxQueue, pvBuffer, xTicksToWait, xJustPeeking );
\r
962 portRESET_PRIVILEGE( xRunningPrivileged );
\r
965 /*-----------------------------------------------------------*/
\r
967 #if ( configUSE_MUTEXES == 1 )
\r
968 xQueueHandle MPU_xQueueCreateMutex( void )
\r
970 xQueueHandle xReturn;
\r
971 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
973 xReturn = xQueueCreateMutex();
\r
974 portRESET_PRIVILEGE( xRunningPrivileged );
\r
978 /*-----------------------------------------------------------*/
\r
980 #if configUSE_COUNTING_SEMAPHORES == 1
\r
981 xQueueHandle MPU_xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
\r
983 xQueueHandle xReturn;
\r
984 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
986 xReturn = xQueueHandle xQueueCreateCountingSemaphore( uxCountValue, uxInitialCount );
\r
987 portRESET_PRIVILEGE( xRunningPrivileged );
\r
991 /*-----------------------------------------------------------*/
\r
993 #if ( configUSE_MUTEXES == 1 )
\r
994 portBASE_TYPE MPU_xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
\r
996 portBASE_TYPE xReturn;
\r
997 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
999 xReturn = xQueueTakeMutexRecursive( xMutex, xBlockTime );
\r
1000 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1004 /*-----------------------------------------------------------*/
\r
1006 #if ( configUSE_MUTEXES == 1 )
\r
1007 portBASE_TYPE MPU_xQueueGiveMutexRecursive( xQueueHandle xMutex )
\r
1009 portBASE_TYPE xReturn;
\r
1010 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1012 xReturn = xQueueGiveMutexRecursive( xMutex );
\r
1013 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1017 /*-----------------------------------------------------------*/
\r
1019 #if configUSE_ALTERNATIVE_API == 1
\r
1020 signed portBASE_TYPE MPU_xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
\r
1022 signed portBASE_TYPE xReturn;
\r
1023 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1025 xReturn = signed portBASE_TYPE xQueueAltGenericSend( pxQueue, pvItemToQueue, xTicksToWait, xCopyPosition );
\r
1026 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1030 /*-----------------------------------------------------------*/
\r
1032 #if configUSE_ALTERNATIVE_API == 1
\r
1033 signed portBASE_TYPE MPU_xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
\r
1035 signed portBASE_TYPE xReturn;
\r
1036 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1038 xReturn = xQueueAltGenericReceive( pxQueue, pvBuffer, xTicksToWait, xJustPeeking );
\r
1039 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1043 /*-----------------------------------------------------------*/
\r
1045 #if configQUEUE_REGISTRY_SIZE > 0
\r
1046 void MPU_vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName )
\r
1048 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1050 vQueueAddToRegistry( xQueue, pcName );
\r
1052 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1055 /*-----------------------------------------------------------*/
\r
1057 void *MPU_pvPortMalloc( size_t xSize )
\r
1060 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1062 pvReturn = pvPortMalloc( xSize );
\r
1064 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1068 /*-----------------------------------------------------------*/
\r
1070 void MPU_vPortFree( void *pv )
\r
1072 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1076 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1078 /*-----------------------------------------------------------*/
\r
1080 void MPU_vPortInitialiseBlocks( void )
\r
1082 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1084 vPortInitialiseBlocks();
\r
1086 portRESET_PRIVILEGE( xRunningPrivileged );
\r
1088 /*-----------------------------------------------------------*/
\r
1090 size_t MPU_xPortGetFreeHeapSize( void )
\r
1093 portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
\r
1095 xReturn = xPortGetFreeHeapSize();
\r
1097 portRESET_PRIVILEGE( xRunningPrivileged );
\r