/*\r
- FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.\r
- All rights reserved\r
-\r
- VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
-\r
- This file is part of the FreeRTOS distribution.\r
-\r
- FreeRTOS is free software; you can redistribute it and/or modify it under\r
- the terms of the GNU General Public License (version 2) as published by the\r
- Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r
-\r
- ***************************************************************************\r
- >>! NOTE: The modification to the GPL is included to allow you to !<<\r
- >>! distribute a combined work that includes FreeRTOS without being !<<\r
- >>! obliged to provide the source code for proprietary components !<<\r
- >>! outside of the FreeRTOS kernel. !<<\r
- ***************************************************************************\r
-\r
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
- WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
- FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
- link: http://www.freertos.org/a00114.html\r
-\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that is more than just the market leader, it *\r
- * is the industry's de facto standard. *\r
- * *\r
- * Help yourself get started quickly while simultaneously helping *\r
- * to support the FreeRTOS project by purchasing a FreeRTOS *\r
- * tutorial book, reference manual, or both: *\r
- * http://www.FreeRTOS.org/Documentation *\r
- * *\r
- ***************************************************************************\r
-\r
- http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
- the FAQ page "My application does not run, what could be wrong?". Have you\r
- defined configASSERT()?\r
-\r
- http://www.FreeRTOS.org/support - In return for receiving this top quality\r
- embedded software for free we request you assist our global community by\r
- participating in the support forum.\r
-\r
- http://www.FreeRTOS.org/training - Investing in training allows your team to\r
- be as productive as possible as early as possible. Now you can receive\r
- FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
- Ltd, and the world's leading authority on the world's leading RTOS.\r
-\r
- http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
- compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
-\r
- http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
- Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
-\r
- http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
- Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and commercial middleware.\r
-\r
- http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
- engineered and independently SIL3 certified version for use in safety and\r
- mission critical applications that require provable dependability.\r
-\r
- 1 tab == 4 spaces!\r
-*/\r
+ * FreeRTOS Kernel V10.2.1\r
+ * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.\r
+ *\r
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
+ * this software and associated documentation files (the "Software"), to deal in\r
+ * the Software without restriction, including without limitation the rights to\r
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
+ * the Software, and to permit persons to whom the Software is furnished to do so,\r
+ * subject to the following conditions:\r
+ *\r
+ * The above copyright notice and this permission notice shall be included in all\r
+ * copies or substantial portions of the Software.\r
+ *\r
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
+ *\r
+ * http://www.FreeRTOS.org\r
+ * http://aws.amazon.com/freertos\r
+ *\r
+ * 1 tab == 4 spaces!\r
+ */\r
\r
/*-----------------------------------------------------------\r
* Implementation of functions defined in portable.h for the ARM CM3 port.\r
*----------------------------------------------------------*/\r
\r
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining\r
-all the API functions to use the MPU wrappers. That should only be done when\r
-task.h is included from an application file. */\r
+ * all the API functions to use the MPU wrappers. That should only be done when\r
+ * task.h is included from an application file. */\r
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
\r
/* Scheduler includes. */\r
#include "FreeRTOS.h"\r
#include "task.h"\r
-#include "queue.h"\r
-#include "timers.h"\r
-#include "event_groups.h"\r
-#include "mpu_prototypes.h"\r
\r
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
\r
+#ifndef configSYSTICK_CLOCK_HZ\r
+ #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ\r
+ /* Ensure the SysTick is clocked at the same frequency as the core. */\r
+ #define portNVIC_SYSTICK_CLK ( 1UL << 2UL )\r
+#else\r
+ /* The way the SysTick is clocked is not modified in case it is not the same\r
+ * as the core. */\r
+ #define portNVIC_SYSTICK_CLK ( 0 )\r
+#endif\r
+\r
/* Constants required to access and manipulate the NVIC. */\r
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )\r
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )\r
#define portPERIPHERALS_END_ADDRESS 0x5FFFFFFFUL\r
\r
/* Constants required to access and manipulate the SysTick. */\r
-#define portNVIC_SYSTICK_CLK ( 0x00000004UL )\r
#define portNVIC_SYSTICK_INT ( 0x00000002UL )\r
#define portNVIC_SYSTICK_ENABLE ( 0x00000001UL )\r
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )\r
#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 )\r
\r
/* Constants required to check the validity of an interrupt priority. */\r
-#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )\r
-#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )\r
-#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) )\r
-#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )\r
-#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )\r
-#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )\r
-#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )\r
-#define portPRIGROUP_SHIFT ( 8UL )\r
+#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )\r
+#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )\r
+#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) )\r
+#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )\r
+#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )\r
+#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )\r
+#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )\r
+#define portPRIGROUP_SHIFT ( 8UL )\r
\r
/* Offsets in the stack to the parameters when inside the SVC handler. */\r
#define portOFFSET_TO_PC ( 6 )\r
\r
/* For strict compliance with the Cortex-M spec the task start address should\r
-have bit-0 clear, as it is loaded into the PC on exit from an ISR. */\r
-#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )\r
-\r
-/* Each task maintains its own interrupt status in the critical nesting\r
-variable. Note this is not saved as part of the task context as context\r
-switches can only occur when uxCriticalNesting is zero. */\r
-static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;\r
-\r
-/*\r
- * Setup the timer to generate the tick interrupts.\r
- */\r
-static void prvSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;\r
+ * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */\r
+#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )\r
+/*-----------------------------------------------------------*/\r
\r
/*\r
* Configure a number of standard MPU regions that are used by all tasks.\r
static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION;\r
\r
/*\r
- * Checks to see if being called from the context of an unprivileged task, and\r
- * if so raises the privilege level and returns false - otherwise does nothing\r
- * other than return true.\r
+ * Setup the timer to generate the tick interrupts. The implementation in this\r
+ * file is weak to allow application writers to change the timer used to\r
+ * generate the tick interrupt.\r
*/\r
-BaseType_t xPortRaisePrivilege( void ) __attribute__(( naked ));\r
+void vPortSetupTimerInterrupt( void );\r
\r
/*\r
* Standard FreeRTOS exception handlers.\r
*/\r
static void prvSVCHandler( uint32_t *pulRegisters ) __attribute__(( noinline )) PRIVILEGED_FUNCTION;\r
\r
+/**\r
+ * @brief Checks whether or not the processor is privileged.\r
+ *\r
+ * @return 1 if the processor is already privileged, 0 otherwise.\r
+ */\r
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));\r
+\r
+/**\r
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL\r
+ * register.\r
+ *\r
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.\r
+ * Bit[0] = 0 --> The processor is running privileged\r
+ * Bit[0] = 1 --> The processor is running unprivileged.\r
+ */\r
+void vResetPrivilege( void ) __attribute__ (( naked ));\r
+\r
+/**\r
+ * @brief Calls the port specific code to raise the privilege.\r
+ *\r
+ * @return pdFALSE if privilege was raised, pdTRUE otherwise.\r
+ */\r
+extern BaseType_t xPortRaisePrivilege( void );\r
+\r
+/**\r
+ * @brief If xRunningPrivileged is not pdTRUE, calls the port specific\r
+ * code to reset the privilege, otherwise does nothing.\r
+ */\r
+extern void vPortResetPrivilege( BaseType_t xRunningPrivileged );\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Each task maintains its own interrupt status in the critical nesting\r
+ * variable. Note this is not saved as part of the task context as context\r
+ * switches can only occur when uxCriticalNesting is zero. */\r
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;\r
+\r
/*\r
* Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure\r
* FreeRTOS API functions are not called from interrupts that have been assigned\r
static uint32_t ulMaxPRIGROUPValue = 0;\r
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;\r
#endif /* configASSERT_DEFINED */\r
-\r
/*-----------------------------------------------------------*/\r
\r
/*\r
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )\r
{\r
/* Simulate the stack frame as it would be created by a context switch\r
- interrupt. */\r
+ * interrupt. */\r
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */\r
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */\r
pxTopOfStack--;\r
" mrs r0, psp \n"\r
#endif\r
" b %0 \n"\r
- ::"i"(prvSVCHandler):"r0"\r
+ ::"i"(prvSVCHandler):"r0", "memory"\r
);\r
}\r
/*-----------------------------------------------------------*/\r
static void prvSVCHandler( uint32_t *pulParam )\r
{\r
uint8_t ucSVCNumber;\r
+uint32_t ulPC;\r
+#if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 )\r
+ #if defined( __ARMCC_VERSION )\r
+ /* Declaration when these variable are defined in code instead of being\r
+ * exported from linker scripts. */\r
+ extern uint32_t * __syscalls_flash_start__;\r
+ extern uint32_t * __syscalls_flash_end__;\r
+ #else\r
+ /* Declaration when these variable are exported from linker scripts. */\r
+ extern uint32_t __syscalls_flash_start__[];\r
+ extern uint32_t __syscalls_flash_end__[];\r
+ #endif /* #if defined( __ARMCC_VERSION ) */\r
+#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */\r
+\r
+ /* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR. The first\r
+ * argument (r0) is pulParam[ 0 ]. */\r
+ ulPC = pulParam[ portOFFSET_TO_PC ];\r
+ ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ];\r
\r
- /* The stack contains: r0, r1, r2, r3, r12, r14, the return address and\r
- xPSR. The first argument (r0) is pulParam[ 0 ]. */\r
- ucSVCNumber = ( ( uint8_t * ) pulParam[ portOFFSET_TO_PC ] )[ -2 ];\r
switch( ucSVCNumber )\r
{\r
case portSVC_START_SCHEDULER : portNVIC_SYSPRI1_REG |= portNVIC_SVC_PRI;\r
\r
case portSVC_YIELD : portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;\r
/* Barriers are normally not required\r
- but do ensure the code is completely\r
- within the specified behaviour for the\r
- architecture. */\r
- __asm volatile( "dsb" );\r
+ * but do ensure the code is completely\r
+ * within the specified behaviour for the\r
+ * architecture. */\r
+ __asm volatile( "dsb" ::: "memory" );\r
__asm volatile( "isb" );\r
\r
break;\r
\r
+\r
+ #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 )\r
+ case portSVC_RAISE_PRIVILEGE : /* Only raise the privilege, if the\r
+ * svc was raised from any of the\r
+ * system calls. */\r
+ if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&\r
+ ulPC <= ( uint32_t ) __syscalls_flash_end__ )\r
+ {\r
+ __asm volatile\r
+ (\r
+ " mrs r1, control \n" /* Obtain current control value. */\r
+ " bic r1, #1 \n" /* Set privilege bit. */\r
+ " msr control, r1 \n" /* Write back new control value. */\r
+ ::: "r1", "memory"\r
+ );\r
+ }\r
+ break;\r
+ #else\r
case portSVC_RAISE_PRIVILEGE : __asm volatile\r
(\r
" mrs r1, control \n" /* Obtain current control value. */\r
" bic r1, #1 \n" /* Set privilege bit. */\r
" msr control, r1 \n" /* Write back new control value. */\r
- :::"r1"\r
+ ::: "r1", "memory"\r
);\r
break;\r
+ #endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */\r
\r
default : /* Unknown SVC call. */\r
break;\r
" ldr r1, [r3] \n"\r
" ldr r0, [r1] \n" /* The first item in the TCB is the task top of stack. */\r
" add r1, r1, #4 \n" /* Move onto the second item in the TCB... */\r
+ " \n"\r
+ " dmb \n" /* Complete outstanding transfers before disabling MPU. */\r
+ " ldr r2, =0xe000ed94 \n" /* MPU_CTRL register. */\r
+ " ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */\r
+ " bic r3, #1 \n" /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */\r
+ " str r3, [r2] \n" /* Disable MPU. */\r
+ " \n"\r
" ldr r2, =0xe000ed9c \n" /* Region Base Address register. */\r
" ldmia r1!, {r4-r11} \n" /* Read 4 sets of MPU registers. */\r
" stmia r2!, {r4-r11} \n" /* Write 4 sets of MPU registers. */\r
+ " \n"\r
+ " ldr r2, =0xe000ed94 \n" /* MPU_CTRL register. */\r
+ " ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */\r
+ " orr r3, #1 \n" /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */\r
+ " str r3, [r2] \n" /* Enable MPU. */\r
+ " dsb \n" /* Force memory writes before continuing. */\r
+ " \n"\r
" ldmia r0!, {r3, r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry. */\r
" msr control, r3 \n"\r
" msr psp, r0 \n" /* Restore the task stack pointer. */\r
BaseType_t xPortStartScheduler( void )\r
{\r
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See\r
- http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */\r
+ * http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */\r
configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );\r
\r
#if( configASSERT_DEFINED == 1 )\r
volatile uint8_t ucMaxPriorityValue;\r
\r
/* Determine the maximum priority from which ISR safe FreeRTOS API\r
- functions can be called. ISR safe functions are those that end in\r
- "FromISR". FreeRTOS maintains separate thread and ISR API functions to\r
- ensure interrupt entry is as fast and simple as possible.\r
+ * functions can be called. ISR safe functions are those that end in\r
+ * "FromISR". FreeRTOS maintains separate thread and ISR API functions\r
+ * to ensure interrupt entry is as fast and simple as possible.\r
\r
- Save the interrupt priority value that is about to be clobbered. */\r
+ * Save the interrupt priority value that is about to be clobbered. */\r
ulOriginalPriority = *pucFirstUserPriorityRegister;\r
\r
/* Determine the number of priority bits available. First write to all\r
- possible bits. */\r
+ * possible bits. */\r
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;\r
\r
/* Read the value back to see how many bits stuck. */\r
ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;\r
\r
/* Calculate the maximum acceptable priority group value for the number\r
- of bits read back. */\r
+ * of bits read back. */\r
ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;\r
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )\r
{\r
ucMaxPriorityValue <<= ( uint8_t ) 0x01;\r
}\r
\r
+ #ifdef __NVIC_PRIO_BITS\r
+ {\r
+ /* Check the CMSIS configuration that defines the number of\r
+ * priority bits matches the number of priority bits actually queried\r
+ * from the hardware. */\r
+ configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );\r
+ }\r
+ #endif\r
+\r
+ #ifdef configPRIO_BITS\r
+ {\r
+ /* Check the FreeRTOS configuration that defines the number of\r
+ * priority bits matches the number of priority bits actually queried\r
+ * from the hardware. */\r
+ configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );\r
+ }\r
+ #endif\r
+\r
/* Shift the priority group value back to its position within the AIRCR\r
- register. */\r
+ * register. */\r
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;\r
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;\r
\r
/* Restore the clobbered interrupt priority register to its original\r
- value. */\r
+ * value. */\r
*pucFirstUserPriorityRegister = ulOriginalPriority;\r
}\r
#endif /* conifgASSERT_DEFINED */\r
\r
/* Make PendSV and SysTick the same priority as the kernel, and the SVC\r
- handler higher priority so it can be used to exit a critical section (where\r
- lower priorities are masked). */\r
+ * handler higher priority so it can be used to exit a critical section (where\r
+ * lower priorities are masked). */\r
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;\r
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;\r
\r
prvSetupMPU();\r
\r
/* Start the timer that generates the tick ISR. Interrupts are disabled\r
- here already. */\r
- prvSetupTimerInterrupt();\r
+ * here already. */\r
+ vPortSetupTimerInterrupt();\r
\r
/* Initialise the critical nesting count ready for the first task. */\r
uxCriticalNesting = 0;\r
" isb \n"\r
" svc %0 \n" /* System call to start first task. */\r
" nop \n"\r
- :: "i" (portSVC_START_SCHEDULER) );\r
+ :: "i" (portSVC_START_SCHEDULER) : "memory" );\r
\r
/* Should not get here! */\r
return 0;\r
void vPortEndScheduler( void )\r
{\r
/* Not implemented in ports where there is nothing to return to.\r
- Artificially force an assert. */\r
+ * Artificially force an assert. */\r
configASSERT( uxCriticalNesting == 1000UL );\r
}\r
/*-----------------------------------------------------------*/\r
" mrs r1, control \n"\r
" stmdb r0!, {r1, r4-r11} \n" /* Save the remaining registers. */\r
" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */\r
- " clrex \n" /* Ensure thread safety of atomic operations. */\r
" \n"\r
" stmdb sp!, {r3, r14} \n"\r
" mov r0, %0 \n"\r
" msr basepri, r0 \n"\r
+ " dsb \n"\r
+ " isb \n"\r
" bl vTaskSwitchContext \n"\r
" mov r0, #0 \n"\r
" msr basepri, r0 \n"\r
" ldr r1, [r3] \n"\r
" ldr r0, [r1] \n" /* The first item in the TCB is the task top of stack. */\r
" add r1, r1, #4 \n" /* Move onto the second item in the TCB... */\r
+ " \n"\r
+ " dmb \n" /* Complete outstanding transfers before disabling MPU. */\r
+ " ldr r2, =0xe000ed94 \n" /* MPU_CTRL register. */\r
+ " ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */\r
+ " bic r3, #1 \n" /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */\r
+ " str r3, [r2] \n" /* Disable MPU. */\r
+ " \n"\r
" ldr r2, =0xe000ed9c \n" /* Region Base Address register. */\r
" ldmia r1!, {r4-r11} \n" /* Read 4 sets of MPU registers. */\r
" stmia r2!, {r4-r11} \n" /* Write 4 sets of MPU registers. */\r
+ " \n"\r
+ " ldr r2, =0xe000ed94 \n" /* MPU_CTRL register. */\r
+ " ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */\r
+ " orr r3, #1 \n" /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */\r
+ " str r3, [r2] \n" /* Enable MPU. */\r
+ " dsb \n" /* Force memory writes before continuing. */\r
+ " \n"\r
" ldmia r0!, {r3, r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry. */\r
" msr control, r3 \n"\r
" \n"\r
* Setup the systick timer to generate the tick interrupts at the required\r
* frequency.\r
*/\r
-static void prvSetupTimerInterrupt( void )\r
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )\r
{\r
- /* Reset the SysTick timer. */\r
+ /* Stop and clear the SysTick. */\r
portNVIC_SYSTICK_CTRL_REG = 0UL;\r
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;\r
\r
/* Configure SysTick to interrupt at the requested rate. */\r
- portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;\r
- portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;\r
+ portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;\r
+ portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE );\r
}\r
/*-----------------------------------------------------------*/\r
\r
( portMPU_REGION_ENABLE );\r
\r
/* Setup the first 16K for privileged only access (even though less\r
- than 10K is actually being used). This is where the kernel code is\r
- placed. */\r
+ * than 10K is actually being used). This is where the kernel code is\r
+ * placed. */\r
portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */\r
( portMPU_REGION_VALID ) |\r
( portPRIVILEGED_FLASH_REGION );\r
( portMPU_REGION_ENABLE );\r
\r
/* Setup the privileged data RAM region. This is where the kernel data\r
- is placed. */\r
+ * is placed. */\r
portMPU_REGION_BASE_ADDRESS_REG = ( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */\r
( portMPU_REGION_VALID ) |\r
( portPRIVILEGED_RAM_REGION );\r
( portMPU_REGION_ENABLE );\r
\r
/* By default allow everything to access the general peripherals. The\r
- system peripherals and registers are protected. */\r
+ * system peripherals and registers are protected. */\r
portMPU_REGION_BASE_ADDRESS_REG = ( portPERIPHERALS_START_ADDRESS ) |\r
( portMPU_REGION_VALID ) |\r
( portGENERAL_PERIPHERALS_REGION );\r
uint32_t ulRegionSize, ulReturnValue = 4;\r
\r
/* 32 is the smallest region size, 31 is the largest valid value for\r
- ulReturnValue. */\r
+ * ulReturnValue. */\r
for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) )\r
{\r
if( ulActualSizeInBytes <= ulRegionSize )\r
}\r
\r
/* Shift the code by one before returning so it can be written directly\r
- into the the correct bit position of the attribute register. */\r
+ * into the the correct bit position of the attribute register. */\r
return ( ulReturnValue << 1UL );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-BaseType_t xPortRaisePrivilege( void )\r
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */\r
{\r
__asm volatile\r
(\r
- " mrs r0, control \n"\r
- " tst r0, #1 \n" /* Is the task running privileged? */\r
- " itte ne \n"\r
- " movne r0, #0 \n" /* CONTROL[0]!=0, return false. */\r
- " svcne %0 \n" /* Switch to privileged. */\r
- " moveq r0, #1 \n" /* CONTROL[0]==0, return true. */\r
- " bx lr \n"\r
- :: "i" (portSVC_RAISE_PRIVILEGE) : "r0"\r
+ " mrs r0, control \n" /* r0 = CONTROL. */\r
+ " tst r0, #1 \n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */\r
+ " ite ne \n"\r
+ " movne r0, #0 \n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */\r
+ " moveq r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */\r
+ " bx lr \n" /* Return. */\r
+ " \n"\r
+ " .align 4 \n"\r
+ ::: "r0", "memory"\r
);\r
+}\r
+/*-----------------------------------------------------------*/\r
\r
- return 0;\r
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */\r
+{\r
+ __asm volatile\r
+ (\r
+ " mrs r0, control \n" /* r0 = CONTROL. */\r
+ " orr r0, #1 \n" /* r0 = r0 | 1. */\r
+ " msr control, r0 \n" /* CONTROL = r0. */\r
+ " bx lr \n" /* Return to the caller. */\r
+ :::"r0", "memory"\r
+ );\r
}\r
/*-----------------------------------------------------------*/\r
\r
( portMPU_REGION_ENABLE );\r
\r
/* Re-instate the privileged only RAM region as xRegion[ 0 ] will have\r
- just removed the privileged only parameters. */\r
+ * just removed the privileged only parameters. */\r
xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress =\r
( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */\r
( portMPU_REGION_VALID ) |\r
else\r
{\r
/* This function is called automatically when the task is created - in\r
- which case the stack region parameters will be valid. At all other\r
- times the stack parameters will not be valid and it is assumed that the\r
- stack region has already been configured. */\r
+ * which case the stack region parameters will be valid. At all other\r
+ * times the stack parameters will not be valid and it is assumed that the\r
+ * stack region has already been configured. */\r
if( ulStackDepth > 0 )\r
{\r
/* Define the region that allows access to the stack. */\r
if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL )\r
{\r
/* Translate the generic region definition contained in\r
- xRegions into the CM3 specific MPU settings that are then\r
- stored in xMPUSettings. */\r
+ * xRegions into the CM3 specific MPU settings that are then\r
+ * stored in xMPUSettings. */\r
xMPUSettings->xRegion[ ul ].ulRegionBaseAddress =\r
( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) |\r
( portMPU_REGION_VALID ) |\r
uint8_t ucCurrentPriority;\r
\r
/* Obtain the number of the currently executing interrupt. */\r
- __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );\r
+ __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );\r
\r
/* Is the interrupt number a user defined interrupt? */\r
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )\r
ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];\r
\r
/* The following assertion will fail if a service routine (ISR) for\r
- an interrupt that has been assigned a priority above\r
- configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API\r
- function. ISR safe FreeRTOS API functions must *only* be called\r
- from interrupts that have been assigned a priority at or below\r
- configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
-\r
- Numerically low interrupt priority numbers represent logically high\r
- interrupt priorities, therefore the priority of the interrupt must\r
- be set to a value equal to or numerically *higher* than\r
- configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
-\r
- Interrupts that use the FreeRTOS API must not be left at their\r
- default priority of zero as that is the highest possible priority,\r
- which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,\r
- and therefore also guaranteed to be invalid.\r
-\r
- FreeRTOS maintains separate thread and ISR API functions to ensure\r
- interrupt entry is as fast and simple as possible.\r
-\r
- The following links provide detailed information:\r
- http://www.freertos.org/RTOS-Cortex-M3-M4.html\r
- http://www.freertos.org/FAQHelp.html */\r
+ * an interrupt that has been assigned a priority above\r
+ * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API\r
+ * function. ISR safe FreeRTOS API functions must *only* be called\r
+ * from interrupts that have been assigned a priority at or below\r
+ * configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
+\r
+ * Numerically low interrupt priority numbers represent logically high\r
+ * interrupt priorities, therefore the priority of the interrupt must\r
+ * be set to a value equal to or numerically *higher* than\r
+ * configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
+\r
+ * Interrupts that use the FreeRTOS API must not be left at their\r
+ * default priority of zero as that is the highest possible priority,\r
+ * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,\r
+ * and therefore also guaranteed to be invalid.\r
+\r
+ * FreeRTOS maintains separate thread and ISR API functions to ensure\r
+ * interrupt entry is as fast and simple as possible.\r
+\r
+ * The following links provide detailed information:\r
+ * http://www.freertos.org/RTOS-Cortex-M3-M4.html\r
+ * http://www.freertos.org/FAQHelp.html */\r
configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );\r
}\r
\r
/* Priority grouping: The interrupt controller (NVIC) allows the bits\r
- that define each interrupt's priority to be split between bits that\r
- define the interrupt's pre-emption priority bits and bits that define\r
- the interrupt's sub-priority. For simplicity all bits must be defined\r
- to be pre-emption priority bits. The following assertion will fail if\r
- this is not the case (if some bits represent a sub-priority).\r
-\r
- If the application only uses CMSIS libraries for interrupt\r
- configuration then the correct setting can be achieved on all Cortex-M\r
- devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the\r
- scheduler. Note however that some vendor specific peripheral libraries\r
- assume a non-zero priority group setting, in which cases using a value\r
- of zero will result in unpredicable behaviour. */\r
+ * that define each interrupt's priority to be split between bits that\r
+ * define the interrupt's pre-emption priority bits and bits that define\r
+ * the interrupt's sub-priority. For simplicity all bits must be defined\r
+ * to be pre-emption priority bits. The following assertion will fail if\r
+ * this is not the case (if some bits represent a sub-priority).\r
+\r
+ * If the application only uses CMSIS libraries for interrupt\r
+ * configuration then the correct setting can be achieved on all Cortex-M\r
+ * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the\r
+ * scheduler. Note however that some vendor specific peripheral libraries\r
+ * assume a non-zero priority group setting, in which cases using a value\r
+ * of zero will result in unpredicable behaviour. */\r
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );\r
}\r
\r
#endif /* configASSERT_DEFINED */\r
/*-----------------------------------------------------------*/\r
-\r
-\r
projects / freertos / blobdiff