Re-sync with upstream and stripping away none kernel related.

portable/GCC/ARM7_AT91FR40008/port.c

@@ -0,0 +1,238 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the Atmel AT91R40008
+ * port.
+ *
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in this file.  The ISR routines, which can only be compiled
+ * to ARM mode are contained in portISR.c.
+ *----------------------------------------------------------*/
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Hardware specific definitions. */
+#include "AT91R40008.h"
+#include "pio.h"
+#include "aic.h"
+#include "tc.h"
+
+/* Constants required to setup the task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portINSTRUCTION_SIZE			( ( StackType_t ) 4 )
+#define portNO_CRITICAL_SECTION_NESTING	( ( StackType_t ) 0 )
+#define portTICK_PRIORITY_6				( 6 )
+/*-----------------------------------------------------------*/
+
+/* Setup the timer to generate the tick interrupts. */
+static void prvSetupTimerInterrupt( void );
+
+/* 
+ * The scheduler can only be started from ARM mode, so 
+ * vPortISRStartFirstSTask() is defined in portISR.c. 
+ */
+extern void vPortISRStartFirstTask( void );
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * Initialise the stack of a task to look exactly as if a call to 
+ * portSAVE_CONTEXT had been called.
+ *
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+StackType_t *pxOriginalTOS;
+
+	pxOriginalTOS = pxTopOfStack;
+	
+	/* To ensure asserts in tasks.c don't fail, although in this case the assert
+	is not really required. */
+	pxTopOfStack--;
+
+	/* Setup the initial stack of the task.  The stack is set exactly as 
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* First on the stack is the return address - which in this case is the
+	start of the task.  The offset is added to make the return address appear
+	as it would within an IRQ ISR. */
+	*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;		
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa;	/* R14 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;	
+
+	/* When the task starts is will expect to find the function parameter in
+	R0. */
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The last thing onto the stack is the status register, which is set for
+	system mode, with interrupts enabled. */
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	#ifdef THUMB_INTERWORK
+	{
+		/* We want the task to start in thumb mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+	#endif
+
+	pxTopOfStack--;
+
+	/* Some optimisation levels use the stack differently to others.  This 
+	means the interrupt flags cannot always be stored on the stack and will
+	instead be stored in a variable, which is then saved as part of the
+	tasks context. */
+	*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	prvSetupTimerInterrupt();
+
+	/* Start the first task. */
+	vPortISRStartFirstTask();	
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the ARM port will require this function as there
+	is nothing to return to.  */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the tick timer to generate the tick interrupts at the required frequency.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+volatile uint32_t ulDummy;
+
+	/* Enable clock to the tick timer... */
+	AT91C_BASE_PS->PS_PCER = portTIMER_CLK_ENABLE_BIT;
+
+	/* Stop the tick timer... */
+	portTIMER_REG_BASE_PTR->TC_CCR = TC_CLKDIS;
+
+	/* Start with tick timer interrupts disabled... */
+	portTIMER_REG_BASE_PTR->TC_IDR = 0xFFFFFFFF;
+
+	/* Clear any pending tick timer interrupts... */
+	ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
+
+	/* Store interrupt handler function address in tick timer vector register...
+	The ISR installed depends on whether the preemptive or cooperative
+	scheduler is being used. */
+	#if configUSE_PREEMPTION == 1
+	{
+		extern void ( vPreemptiveTick )( void );
+		AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vPreemptiveTick;
+	}
+	#else  // else use cooperative scheduler
+	{
+		extern void ( vNonPreemptiveTick )( void );
+		AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vNonPreemptiveTick;
+	}
+	#endif
+
+	/* Tick timer interrupt level-sensitive, priority 6... */
+	AT91C_BASE_AIC->AIC_SMR[ portTIMER_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | portTICK_PRIORITY_6;
+
+	/* Enable the tick timer interrupt...
+
+	First at timer level */
+	portTIMER_REG_BASE_PTR->TC_IER = TC_CPCS;
+
+	/* Then at the AIC level. */
+	AT91C_BASE_AIC->AIC_IECR = (1 << portTIMER_AIC_CHANNEL);
+
+	/* Calculate timer compare value to achieve the desired tick rate... */
+	if( (configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2) ) <= 0xFFFF )
+	{
+		/* The tick rate is fast enough for us to use the faster timer input
+		clock (main clock / 2). */
+		portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK2 | TC_BURST_NONE | TC_CPCTRG;
+		portTIMER_REG_BASE_PTR->TC_RC  = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2);
+	}
+	else
+	{
+		/* We must use a slower timer input clock (main clock / 8) because the
+		tick rate is too slow for the faster input clock. */
+		portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK8 | TC_BURST_NONE | TC_CPCTRG;
+		portTIMER_REG_BASE_PTR->TC_RC  = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 8);
+	}
+
+	/* Start tick timer... */
+	portTIMER_REG_BASE_PTR->TC_CCR = TC_SWTRG | TC_CLKEN;
+}
+/*-----------------------------------------------------------*/
+

portable/GCC/ARM7_AT91FR40008/portISR.c

@@ -0,0 +1,233 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in port.c  The ISR routines, which can only be compiled
+ * to ARM mode, are contained in this file.
+ *----------------------------------------------------------*/
+
+/*
+	Changes from V3.2.4
+
+	+ The assembler statements are now included in a single asm block rather
+	  than each line having its own asm block.
+*/
+
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to handle interrupts. */
+#define portCLEAR_AIC_INTERRUPT		( ( uint32_t ) 0 )
+
+/* Constants required to handle critical sections. */
+#define portNO_CRITICAL_NESTING		( ( uint32_t ) 0 )
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/*-----------------------------------------------------------*/
+
+/* ISR to handle manual context switches (from a call to taskYIELD()). */
+void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
+
+/* 
+ * The scheduler can only be started from ARM mode, hence the inclusion of this
+ * function here.
+ */
+void vPortISRStartFirstTask( void );
+/*-----------------------------------------------------------*/
+
+void vPortISRStartFirstTask( void )
+{
+	/* Simply start the scheduler.  This is included here as it can only be
+	called from ARM mode. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Called by portYIELD() or taskYIELD() to manually force a context switch.
+ *
+ * When a context switch is performed from the task level the saved task 
+ * context is made to look as if it occurred from within the tick ISR.  This
+ * way the same restore context function can be used when restoring the context
+ * saved from the ISR or that saved from a call to vPortYieldProcessor.
+ */
+void vPortYieldProcessor( void )
+{
+	/* Within an IRQ ISR the link register has an offset from the true return 
+	address, but an SWI ISR does not.  Add the offset manually so the same 
+	ISR return code can be used in both cases. */
+	asm volatile ( "ADD		LR, LR, #4" );
+
+	/* Perform the context switch.  First save the context of the current task. */
+	portSAVE_CONTEXT();
+
+	/* Find the highest priority task that is ready to run. */
+	vTaskSwitchContext();
+
+	/* Restore the context of the new task. */
+	portRESTORE_CONTEXT();	
+}
+/*-----------------------------------------------------------*/
+
+/* 
+ * The ISR used for the scheduler tick depends on whether the cooperative or
+ * the preemptive scheduler is being used.
+ */
+
+#if configUSE_PREEMPTION == 0
+
+	/* The cooperative scheduler requires a normal IRQ service routine to 
+	simply increment the system tick. */
+	void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));
+	void vNonPreemptiveTick( void )
+	{		
+	static volatile uint32_t ulDummy;
+
+		/* Clear tick timer interrupt indication. */
+		ulDummy = portTIMER_REG_BASE_PTR->TC_SR;  
+
+		xTaskIncrementTick();
+
+		/* Acknowledge the interrupt at AIC level... */
+		AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
+	}
+
+#else  /* else preemption is turned on */
+
+	/* The preemptive scheduler is defined as "naked" as the full context is
+	saved on entry as part of the context switch. */
+	void vPreemptiveTick( void ) __attribute__((naked));
+	void vPreemptiveTick( void )
+	{
+		/* Save the context of the interrupted task. */
+		portSAVE_CONTEXT();	
+
+		/* WARNING - Do not use local (stack) variables here.  Use globals
+					 if you must! */
+		static volatile uint32_t ulDummy;
+
+		/* Clear tick timer interrupt indication. */
+		ulDummy = portTIMER_REG_BASE_PTR->TC_SR;  
+
+		/* Increment the RTOS tick count, then look for the highest priority 
+		task that is ready to run. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			vTaskSwitchContext();
+		}
+
+		/* Acknowledge the interrupt at AIC level... */
+		AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
+
+		/* Restore the context of the new task. */
+		portRESTORE_CONTEXT();
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions here to
+ * ensure a switch to ARM mode.  When THUMB_INTERWORK is not defined then
+ * the utilities are defined as macros in portmacro.h - as per other ports.
+ */
+#ifdef THUMB_INTERWORK
+
+	void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	void vPortDisableInterruptsFromThumb( void )
+	{
+		asm volatile ( 
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.						*/
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
+			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+			"BX		R14" );					/* Return back to thumb.					*/
+	}
+			
+	void vPortEnableInterruptsFromThumb( void )
+	{
+		asm volatile ( 
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/	
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/	
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/	
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/	
+			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+			"BX		R14" );					/* Return back to thumb.					*/
+	}
+
+#endif /* THUMB_INTERWORK */
+
+/* The code generated by the GCC compiler uses the stack in different ways at
+different optimisation levels.  The interrupt flags can therefore not always
+be saved to the stack.  Instead the critical section nesting level is stored
+in a variable, which is then saved as part of the stack context. */
+void vPortEnterCritical( void )
+{
+	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
+	asm volatile ( 
+		"STMDB	SP!, {R0}			\n\t"	/* Push R0.								*/
+		"MRS	R0, CPSR			\n\t"	/* Get CPSR.							*/
+		"ORR	R0, R0, #0xC0		\n\t"	/* Disable IRQ, FIQ.					*/
+		"MSR	CPSR, R0			\n\t"	/* Write back modified value.			*/
+		"LDMIA	SP!, {R0}" );				/* Pop R0.								*/
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed 
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as we are leaving a critical section. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then interrupts should be
+		re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Enable interrupts as per portEXIT_CRITICAL().				*/
+			asm volatile ( 
+				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	
+				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	
+				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	
+				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	
+				"LDMIA	SP!, {R0}" );			/* Pop R0.						*/
+		}
+	}
+}
+

portable/GCC/ARM7_AT91FR40008/portmacro.h

@@ -0,0 +1,255 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+	Changes from V3.2.3
+
+	+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
+
+	Changes from V3.2.4
+
+	+ Removed the use of the %0 parameter within the assembler macros and
+	  replaced them with hard coded registers.  This will ensure the
+	  assembler does not select the link register as the temp register as
+	  was occasionally happening previously.
+
+	+ The assembler statements are now included in a single asm block rather
+	  than each line having its own asm block.
+
+	Changes from V4.5.0
+
+	+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
+	  and replaced them with portYIELD_FROM_ISR() macro.  Application code
+	  should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
+	  macros as per the V4.5.1 demo code.
+*/
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+#define portYIELD()					asm volatile ( "SWI 0" )
+#define portNOP()					asm volatile ( "NOP" )
+
+/*
+ * These define the timer to use for generating the tick interrupt.
+ * They are put in this file so they can be shared between "port.c"
+ * and "portisr.c".
+ */
+#define portTIMER_REG_BASE_PTR		AT91C_BASE_TC0
+#define portTIMER_CLK_ENABLE_BIT	AT91C_PS_TC0
+#define portTIMER_AIC_CHANNEL		( ( uint32_t ) 4 )
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/*
+ * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR
+ * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but
+ * are included here for efficiency.  An attempt to call one from
+ * THUMB mode code will result in a compile time error.
+ */
+
+#define portRESTORE_CONTEXT()											\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Set the LR to the task stack. */									\
+	asm volatile (														\
+	"LDR		R0, =pxCurrentTCB								\n\t"	\
+	"LDR		R0, [R0]										\n\t"	\
+	"LDR		LR, [R0]										\n\t"	\
+																		\
+	/* The critical nesting depth is the first item on the stack. */	\
+	/* Load it into the ulCriticalNesting variable. */					\
+	"LDR		R0, =ulCriticalNesting							\n\t"	\
+	"LDMFD	LR!, {R1}											\n\t"	\
+	"STR		R1, [R0]										\n\t"	\
+																		\
+	/* Get the SPSR from the stack. */									\
+	"LDMFD	LR!, {R0}											\n\t"	\
+	"MSR		SPSR, R0										\n\t"	\
+																		\
+	/* Restore all system mode registers for the task. */				\
+	"LDMFD	LR, {R0-R14}^										\n\t"	\
+	"NOP														\n\t"	\
+																		\
+	/* Restore the return address. */									\
+	"LDR		LR, [LR, #+60]									\n\t"	\
+																		\
+	/* And return - correcting the offset in the LR to obtain the */	\
+	/* correct address. */												\
+	"SUBS	PC, LR, #4											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+/*-----------------------------------------------------------*/
+
+#define portSAVE_CONTEXT()												\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Push R0 as we are going to use the register. */					\
+	asm volatile (														\
+	"STMDB	SP!, {R0}											\n\t"	\
+																		\
+	/* Set R0 to point to the task stack pointer. */					\
+	"STMDB	SP,{SP}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	SP, SP, #4											\n\t"	\
+	"LDMIA	SP!,{R0}											\n\t"	\
+																		\
+	/* Push the return address onto the stack. */						\
+	"STMDB	R0!, {LR}											\n\t"	\
+																		\
+	/* Now we have saved LR we can use it instead of R0. */				\
+	"MOV	LR, R0												\n\t"	\
+																		\
+	/* Pop R0 so we can save it onto the system mode stack. */			\
+	"LDMIA	SP!, {R0}											\n\t"	\
+																		\
+	/* Push all the system mode registers onto the task stack. */		\
+	"STMDB	LR,{R0-LR}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	LR, LR, #60											\n\t"	\
+																		\
+	/* Push the SPSR onto the task stack. */							\
+	"MRS	R0, SPSR											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	"LDR	R0, =ulCriticalNesting								\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	/* Store the new top of stack for the task. */						\
+	"LDR	R0, =pxCurrentTCB									\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STR	LR, [R0]											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+
+#define portYIELD_FROM_ISR() vTaskSwitchContext()
+
+/* Critical section handling. */
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions in
+ * portISR.c to ensure a switch to ARM mode.  When THUMB_INTERWORK is not
+ * defined then the utilities are defined as macros here - as per other ports.
+ */
+
+#ifdef THUMB_INTERWORK
+
+	extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	#define portDISABLE_INTERRUPTS()	vPortDisableInterruptsFromThumb()
+	#define portENABLE_INTERRUPTS()		vPortEnableInterruptsFromThumb()
+
+#else
+
+	#define portDISABLE_INTERRUPTS()											\
+		asm volatile (															\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.			*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+	#define portENABLE_INTERRUPTS()												\
+		asm volatile (															\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+#endif /* THUMB_INTERWORK */
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.c

@@ -0,0 +1,51 @@
+//* ----------------------------------------------------------------------------
+//*         ATMEL Microcontroller Software Support  -  ROUSSET  -
+//* ----------------------------------------------------------------------------
+//* DISCLAIMER:  THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
+//* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
+//* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
+//* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+//* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+//* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+//* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+//* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//* ----------------------------------------------------------------------------
+//* File Name           : lib_AT91SAM7X256.h
+//* Object              : AT91SAM7X256 inlined functions
+//* Generated           : AT91 SW Application Group  05/20/2005 (16:22:29)
+//*
+//* CVS Reference       : /lib_dbgu.h/1.1/Fri Jan 31 12:18:40 2003//
+//* CVS Reference       : /lib_pmc_SAM7X.h/1.1/Tue Feb  1 08:32:10 2005//
+//* CVS Reference       : /lib_VREG_6085B.h/1.1/Tue Feb  1 16:20:47 2005//
+//* CVS Reference       : /lib_rstc_6098A.h/1.1/Wed Oct  6 10:39:20 2004//
+//* CVS Reference       : /lib_ssc.h/1.4/Fri Jan 31 12:19:20 2003//
+//* CVS Reference       : /lib_wdtc_6080A.h/1.1/Wed Oct  6 10:38:30 2004//
+//* CVS Reference       : /lib_usart.h/1.5/Thu Nov 21 16:01:54 2002//
+//* CVS Reference       : /lib_spi2.h/1.1/Mon Aug 25 14:23:52 2003//
+//* CVS Reference       : /lib_pitc_6079A.h/1.2/Tue Nov  9 14:43:56 2004//
+//* CVS Reference       : /lib_aic_6075b.h/1.1/Fri May 20 14:01:19 2005//
+//* CVS Reference       : /lib_aes_6149a.h/1.1/Mon Jan 17 07:43:09 2005//
+//* CVS Reference       : /lib_twi.h/1.3/Mon Jul 19 14:27:58 2004//
+//* CVS Reference       : /lib_adc.h/1.6/Fri Oct 17 09:12:38 2003//
+//* CVS Reference       : /lib_rttc_6081A.h/1.1/Wed Oct  6 10:39:38 2004//
+//* CVS Reference       : /lib_udp.h/1.4/Wed Feb 16 08:39:34 2005//
+//* CVS Reference       : /lib_des3_6150a.h/1.1/Mon Jan 17 09:19:19 2005//
+//* CVS Reference       : /lib_tc_1753b.h/1.1/Fri Jan 31 12:20:02 2003//
+//* CVS Reference       : /lib_MC_SAM7X.h/1.1/Thu Mar 25 15:19:14 2004//
+//* CVS Reference       : /lib_pio.h/1.3/Fri Jan 31 12:18:56 2003//
+//* CVS Reference       : /lib_can_AT91.h/1.4/Fri Oct 17 09:12:50 2003//
+//* CVS Reference       : /lib_PWM_SAM.h/1.3/Thu Jan 22 10:10:50 2004//
+//* CVS Reference       : /lib_pdc.h/1.2/Tue Jul  2 13:29:40 2002//
+//* ----------------------------------------------------------------------------
+
+
+#include "AT91SAM7X256.h"
+
+
+//*----------------------------------------------------------------------------
+//* \fn    AT91F_AIC_ConfigureIt
+//* \brief Interrupt Handler Initialization
+//*----------------------------------------------------------------------------
+

portable/GCC/ARM7_AT91SAM7S/port.c

@@ -0,0 +1,213 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM7 port.
+ *
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in this file.  The ISR routines, which can only be compiled
+ * to ARM mode are contained in portISR.c.
+ *----------------------------------------------------------*/
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Processor constants. */
+#include "AT91SAM7X256.h"
+
+/* Constants required to setup the task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portINSTRUCTION_SIZE			( ( StackType_t ) 4 )
+#define portNO_CRITICAL_SECTION_NESTING	( ( StackType_t ) 0 )
+
+/* Constants required to setup the tick ISR. */
+#define portENABLE_TIMER			( ( uint8_t ) 0x01 )
+#define portPRESCALE_VALUE			0x00
+#define portINTERRUPT_ON_MATCH		( ( uint32_t ) 0x01 )
+#define portRESET_COUNT_ON_MATCH	( ( uint32_t ) 0x02 )
+
+/* Constants required to setup the PIT. */
+#define portPIT_CLOCK_DIVISOR			( ( uint32_t ) 16 )
+#define portPIT_COUNTER_VALUE			( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS )
+
+#define portINT_LEVEL_SENSITIVE  0
+#define portPIT_ENABLE      	( ( uint16_t ) 0x1 << 24 )
+#define portPIT_INT_ENABLE     	( ( uint16_t ) 0x1 << 25 )
+/*-----------------------------------------------------------*/
+
+/* Setup the timer to generate the tick interrupts. */
+static void prvSetupTimerInterrupt( void );
+
+/* 
+ * The scheduler can only be started from ARM mode, so 
+ * vPortISRStartFirstSTask() is defined in portISR.c. 
+ */
+extern void vPortISRStartFirstTask( void );
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * Initialise the stack of a task to look exactly as if a call to 
+ * portSAVE_CONTEXT had been called.
+ *
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+StackType_t *pxOriginalTOS;
+
+	pxOriginalTOS = pxTopOfStack;
+
+	/* To ensure asserts in tasks.c don't fail, although in this case the assert
+	is not really required. */
+	pxTopOfStack--;
+
+	/* Setup the initial stack of the task.  The stack is set exactly as 
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* First on the stack is the return address - which in this case is the
+	start of the task.  The offset is added to make the return address appear
+	as it would within an IRQ ISR. */
+	*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;		
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0x00000000;	/* R14 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;	
+
+	/* When the task starts is will expect to find the function parameter in
+	R0. */
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The last thing onto the stack is the status register, which is set for
+	system mode, with interrupts enabled. */
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	#ifdef THUMB_INTERWORK
+	{
+		/* We want the task to start in thumb mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+	#endif
+
+	pxTopOfStack--;
+
+	/* Some optimisation levels use the stack differently to others.  This 
+	means the interrupt flags cannot always be stored on the stack and will
+	instead be stored in a variable, which is then saved as part of the
+	tasks context. */
+	*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	prvSetupTimerInterrupt();
+
+	/* Start the first task. */
+	vPortISRStartFirstTask();	
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the ARM port will require this function as there
+	is nothing to return to.  */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the timer 0 to generate the tick interrupts at the required frequency.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+AT91PS_PITC pxPIT = AT91C_BASE_PITC;
+
+	/* Setup the AIC for PIT interrupts.  The interrupt routine chosen depends
+	on whether the preemptive or cooperative scheduler is being used. */
+	#if configUSE_PREEMPTION == 0
+
+		extern void ( vNonPreemptiveTick ) ( void );
+		AT91F_AIC_ConfigureIt( AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vNonPreemptiveTick );
+
+	#else
+		
+		extern void ( vPreemptiveTick )( void );
+		AT91F_AIC_ConfigureIt( AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPreemptiveTick );
+
+	#endif
+
+	/* Configure the PIT period. */
+	pxPIT->PITC_PIMR = portPIT_ENABLE | portPIT_INT_ENABLE | portPIT_COUNTER_VALUE;
+
+	/* Enable the interrupt.  Global interrupts are disables at this point so 
+	this is safe. */
+    AT91C_BASE_AIC->AIC_IECR = 0x1 << AT91C_ID_SYS;
+}
+/*-----------------------------------------------------------*/
+
+
+

portable/GCC/ARM7_AT91SAM7S/portISR.c

@@ -0,0 +1,227 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in port.c  The ISR routines, which can only be compiled
+ * to ARM mode, are contained in this file.
+ *----------------------------------------------------------*/
+
+/*
+	Changes from V3.2.4
+
+	+ The assembler statements are now included in a single asm block rather
+	  than each line having its own asm block.
+*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "AT91SAM7X256.h"
+
+/* Constants required to handle interrupts. */
+#define portTIMER_MATCH_ISR_BIT		( ( uint8_t ) 0x01 )
+#define portCLEAR_VIC_INTERRUPT		( ( uint32_t ) 0 )
+
+/* Constants required to handle critical sections. */
+#define portNO_CRITICAL_NESTING		( ( uint32_t ) 0 )
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/*-----------------------------------------------------------*/
+
+/* ISR to handle manual context switches (from a call to taskYIELD()). */
+void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
+
+/*
+ * The scheduler can only be started from ARM mode, hence the inclusion of this
+ * function here.
+ */
+void vPortISRStartFirstTask( void );
+/*-----------------------------------------------------------*/
+
+void vPortISRStartFirstTask( void )
+{
+	/* Simply start the scheduler.  This is included here as it can only be
+	called from ARM mode. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Called by portYIELD() or taskYIELD() to manually force a context switch.
+ *
+ * When a context switch is performed from the task level the saved task
+ * context is made to look as if it occurred from within the tick ISR.  This
+ * way the same restore context function can be used when restoring the context
+ * saved from the ISR or that saved from a call to vPortYieldProcessor.
+ */
+void vPortYieldProcessor( void )
+{
+	/* Within an IRQ ISR the link register has an offset from the true return
+	address, but an SWI ISR does not.  Add the offset manually so the same
+	ISR return code can be used in both cases. */
+	__asm volatile ( "ADD		LR, LR, #4" );
+
+	/* Perform the context switch.  First save the context of the current task. */
+	portSAVE_CONTEXT();
+
+	/* Find the highest priority task that is ready to run. */
+	vTaskSwitchContext();
+
+	/* Restore the context of the new task. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * The ISR used for the scheduler tick depends on whether the cooperative or
+ * the preemptive scheduler is being used.
+ */
+
+#if configUSE_PREEMPTION == 0
+
+	/* The cooperative scheduler requires a normal IRQ service routine to
+	simply increment the system tick. */
+	void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));
+	void vNonPreemptiveTick( void )
+	{
+		uint32_t ulDummy;
+
+		/* Increment the tick count - which may wake some tasks but as the
+		preemptive scheduler is not being used any woken task is not given
+		processor time no matter what its priority. */
+		xTaskIncrementTick();
+
+		/* Clear the PIT interrupt. */
+		ulDummy = AT91C_BASE_PITC->PITC_PIVR;
+
+		/* End the interrupt in the AIC. */
+		AT91C_BASE_AIC->AIC_EOICR = ulDummy;
+	}
+
+#else
+
+	/* The preemptive scheduler is defined as "naked" as the full context is
+	saved on entry as part of the context switch. */
+	void vPreemptiveTick( void ) __attribute__((naked));
+	void vPreemptiveTick( void )
+	{
+		/* Save the context of the current task. */
+		portSAVE_CONTEXT();
+
+		/* Increment the tick count - this may wake a task. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Find the highest priority task that is ready to run. */
+			vTaskSwitchContext();
+		}
+
+		/* End the interrupt in the AIC. */
+		AT91C_BASE_AIC->AIC_EOICR = AT91C_BASE_PITC->PITC_PIVR;
+
+		portRESTORE_CONTEXT();
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions here to
+ * ensure a switch to ARM mode.  When THUMB_INTERWORK is not defined then
+ * the utilities are defined as macros in portmacro.h - as per other ports.
+ */
+void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+void vPortDisableInterruptsFromThumb( void )
+{
+	__asm volatile (
+		"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+		"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+		"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.						*/
+		"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
+		"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+		"BX		R14" );					/* Return back to thumb.					*/
+}
+
+void vPortEnableInterruptsFromThumb( void )
+{
+	__asm volatile (
+		"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+		"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+		"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/
+		"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
+		"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+		"BX		R14" );					/* Return back to thumb.					*/
+}
+
+
+/* The code generated by the GCC compiler uses the stack in different ways at
+different optimisation levels.  The interrupt flags can therefore not always
+be saved to the stack.  Instead the critical section nesting level is stored
+in a variable, which is then saved as part of the stack context. */
+void vPortEnterCritical( void )
+{
+	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
+	__asm volatile (
+		"STMDB	SP!, {R0}			\n\t"	/* Push R0.								*/
+		"MRS	R0, CPSR			\n\t"	/* Get CPSR.							*/
+		"ORR	R0, R0, #0xC0		\n\t"	/* Disable IRQ, FIQ.					*/
+		"MSR	CPSR, R0			\n\t"	/* Write back modified value.			*/
+		"LDMIA	SP!, {R0}" );				/* Pop R0.								*/
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as we are leaving a critical section. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then interrupts should be
+		re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Enable interrupts as per portEXIT_CRITICAL().					*/
+			__asm volatile (
+				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/
+				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/
+				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/
+				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/
+				"LDMIA	SP!, {R0}" );			/* Pop R0.						*/
+		}
+	}
+}
+

portable/GCC/ARM7_AT91SAM7S/portmacro.h

@@ -0,0 +1,249 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+	Changes from V3.2.3
+
+	+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
+
+	Changes from V3.2.4
+
+	+ Removed the use of the %0 parameter within the assembler macros and
+	  replaced them with hard coded registers.  This will ensure the
+	  assembler does not select the link register as the temp register as
+	  was occasionally happening previously.
+
+	+ The assembler statements are now included in a single asm block rather
+	  than each line having its own asm block.
+
+	Changes from V4.5.0
+
+	+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
+	  and replaced them with portYIELD_FROM_ISR() macro.  Application code
+	  should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
+	  macros as per the V4.5.1 demo code.
+*/
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	portLONG
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+#define portNOP()					__asm volatile ( "NOP" );
+/*-----------------------------------------------------------*/
+
+
+/* Scheduler utilities. */
+
+/*
+ * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR
+ * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but
+ * are included here for efficiency.  An attempt to call one from
+ * THUMB mode code will result in a compile time error.
+ */
+
+#define portRESTORE_CONTEXT()											\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Set the LR to the task stack. */									\
+	__asm volatile (													\
+	"LDR		R0, =pxCurrentTCB								\n\t"	\
+	"LDR		R0, [R0]										\n\t"	\
+	"LDR		LR, [R0]										\n\t"	\
+																		\
+	/* The critical nesting depth is the first item on the stack. */	\
+	/* Load it into the ulCriticalNesting variable. */					\
+	"LDR		R0, =ulCriticalNesting							\n\t"	\
+	"LDMFD	LR!, {R1}											\n\t"	\
+	"STR		R1, [R0]										\n\t"	\
+																		\
+	/* Get the SPSR from the stack. */									\
+	"LDMFD	LR!, {R0}											\n\t"	\
+	"MSR		SPSR, R0										\n\t"	\
+																		\
+	/* Restore all system mode registers for the task. */				\
+	"LDMFD	LR, {R0-R14}^										\n\t"	\
+	"NOP														\n\t"	\
+																		\
+	/* Restore the return address. */									\
+	"LDR		LR, [LR, #+60]									\n\t"	\
+																		\
+	/* And return - correcting the offset in the LR to obtain the */	\
+	/* correct address. */												\
+	"SUBS	PC, LR, #4											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+/*-----------------------------------------------------------*/
+
+#define portSAVE_CONTEXT()												\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Push R0 as we are going to use the register. */					\
+	__asm volatile (													\
+	"STMDB	SP!, {R0}											\n\t"	\
+																		\
+	/* Set R0 to point to the task stack pointer. */					\
+	"STMDB	SP,{SP}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	SP, SP, #4											\n\t"	\
+	"LDMIA	SP!,{R0}											\n\t"	\
+																		\
+	/* Push the return address onto the stack. */						\
+	"STMDB	R0!, {LR}											\n\t"	\
+																		\
+	/* Now we have saved LR we can use it instead of R0. */				\
+	"MOV	LR, R0												\n\t"	\
+																		\
+	/* Pop R0 so we can save it onto the system mode stack. */			\
+	"LDMIA	SP!, {R0}											\n\t"	\
+																		\
+	/* Push all the system mode registers onto the task stack. */		\
+	"STMDB	LR,{R0-LR}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	LR, LR, #60											\n\t"	\
+																		\
+	/* Push the SPSR onto the task stack. */							\
+	"MRS	R0, SPSR											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	"LDR	R0, =ulCriticalNesting								\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	/* Store the new top of stack for the task. */						\
+	"LDR	R0, =pxCurrentTCB									\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STR	LR, [R0]											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+
+
+#define portYIELD_FROM_ISR()		vTaskSwitchContext()
+#define portYIELD()					__asm volatile ( "SWI 0" )
+/*-----------------------------------------------------------*/
+
+
+/* Critical section management. */
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions in
+ * portISR.c to ensure a switch to ARM mode.  When THUMB_INTERWORK is not
+ * defined then the utilities are defined as macros here - as per other ports.
+ */
+
+#ifdef THUMB_INTERWORK
+
+	extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	#define portDISABLE_INTERRUPTS()	vPortDisableInterruptsFromThumb()
+	#define portENABLE_INTERRUPTS()		vPortEnableInterruptsFromThumb()
+
+#else
+
+	#define portDISABLE_INTERRUPTS()											\
+		__asm volatile (														\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.			*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+	#define portENABLE_INTERRUPTS()												\
+		__asm volatile (														\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+#endif /* THUMB_INTERWORK */
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM7_LPC2000/port.c

@@ -0,0 +1,221 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM7 port.
+ *
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in this file.  The ISR routines, which can only be compiled
+ * to ARM mode are contained in portISR.c.
+ *----------------------------------------------------------*/
+
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to setup the task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portINSTRUCTION_SIZE			( ( StackType_t ) 4 )
+#define portNO_CRITICAL_SECTION_NESTING	( ( StackType_t ) 0 )
+
+/* Constants required to setup the tick ISR. */
+#define portENABLE_TIMER			( ( uint8_t ) 0x01 )
+#define portPRESCALE_VALUE			0x00
+#define portINTERRUPT_ON_MATCH		( ( uint32_t ) 0x01 )
+#define portRESET_COUNT_ON_MATCH	( ( uint32_t ) 0x02 )
+
+/* Constants required to setup the VIC for the tick ISR. */
+#define portTIMER_VIC_CHANNEL		( ( uint32_t ) 0x0004 )
+#define portTIMER_VIC_CHANNEL_BIT	( ( uint32_t ) 0x0010 )
+#define portTIMER_VIC_ENABLE		( ( uint32_t ) 0x0020 )
+
+/*-----------------------------------------------------------*/
+
+/* Setup the timer to generate the tick interrupts. */
+static void prvSetupTimerInterrupt( void );
+
+/* 
+ * The scheduler can only be started from ARM mode, so 
+ * vPortISRStartFirstSTask() is defined in portISR.c. 
+ */
+extern void vPortISRStartFirstTask( void );
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * Initialise the stack of a task to look exactly as if a call to 
+ * portSAVE_CONTEXT had been called.
+ *
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+StackType_t *pxOriginalTOS;
+
+	pxOriginalTOS = pxTopOfStack;
+
+	/* To ensure asserts in tasks.c don't fail, although in this case the assert
+	is not really required. */
+	pxTopOfStack--;
+
+	/* Setup the initial stack of the task.  The stack is set exactly as 
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* First on the stack is the return address - which in this case is the
+	start of the task.  The offset is added to make the return address appear
+	as it would within an IRQ ISR. */
+	*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;		
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa;	/* R14 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;	
+
+	/* When the task starts is will expect to find the function parameter in
+	R0. */
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The last thing onto the stack is the status register, which is set for
+	system mode, with interrupts enabled. */
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
+	{
+		/* We want the task to start in thumb mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+
+	pxTopOfStack--;
+
+	/* Some optimisation levels use the stack differently to others.  This 
+	means the interrupt flags cannot always be stored on the stack and will
+	instead be stored in a variable, which is then saved as part of the
+	tasks context. */
+	*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	prvSetupTimerInterrupt();
+
+	/* Start the first task. */
+	vPortISRStartFirstTask();	
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the ARM port will require this function as there
+	is nothing to return to.  */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the timer 0 to generate the tick interrupts at the required frequency.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+uint32_t ulCompareMatch;
+extern void ( vTickISR )( void );
+
+	/* A 1ms tick does not require the use of the timer prescale.  This is
+	defaulted to zero but can be used if necessary. */
+	T0_PR = portPRESCALE_VALUE;
+
+	/* Calculate the match value required for our wanted tick rate. */
+	ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
+
+	/* Protect against divide by zero.  Using an if() statement still results
+	in a warning - hence the #if. */
+	#if portPRESCALE_VALUE != 0
+	{
+		ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
+	}
+	#endif
+	T0_MR0 = ulCompareMatch;
+
+	/* Generate tick with timer 0 compare match. */
+	T0_MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH;
+
+	/* Setup the VIC for the timer. */
+	VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT );
+	VICIntEnable |= portTIMER_VIC_CHANNEL_BIT;
+	
+	/* The ISR installed depends on whether the preemptive or cooperative
+	scheduler is being used. */
+
+	VICVectAddr0 = ( int32_t ) vTickISR;
+	VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE;
+
+	/* Start the timer - interrupts are disabled when this function is called
+	so it is okay to do this here. */
+	T0_TCR = portENABLE_TIMER;
+}
+/*-----------------------------------------------------------*/
+
+
+

portable/GCC/ARM7_LPC2000/portISR.c

@@ -0,0 +1,215 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in port.c  The ISR routines, which can only be compiled
+ * to ARM mode, are contained in this file.
+ *----------------------------------------------------------*/
+
+/*
+	Changes from V2.5.2
+
+	+ The critical section management functions have been changed.  These no
+	  longer modify the stack and are safe to use at all optimisation levels.
+	  The functions are now also the same for both ARM and THUMB modes.
+
+	Changes from V2.6.0
+
+	+ Removed the 'static' from the definition of vNonPreemptiveTick() to
+	  allow the demo to link when using the cooperative scheduler.
+
+	Changes from V3.2.4
+
+	+ The assembler statements are now included in a single asm block rather
+	  than each line having its own asm block.
+*/
+
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+
+/* Constants required to handle interrupts. */
+#define portTIMER_MATCH_ISR_BIT		( ( uint8_t ) 0x01 )
+#define portCLEAR_VIC_INTERRUPT		( ( uint32_t ) 0 )
+
+/* Constants required to handle critical sections. */
+#define portNO_CRITICAL_NESTING		( ( uint32_t ) 0 )
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/*-----------------------------------------------------------*/
+
+/* ISR to handle manual context switches (from a call to taskYIELD()). */
+void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
+
+/*
+ * The scheduler can only be started from ARM mode, hence the inclusion of this
+ * function here.
+ */
+void vPortISRStartFirstTask( void );
+/*-----------------------------------------------------------*/
+
+void vPortISRStartFirstTask( void )
+{
+	/* Simply start the scheduler.  This is included here as it can only be
+	called from ARM mode. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Called by portYIELD() or taskYIELD() to manually force a context switch.
+ *
+ * When a context switch is performed from the task level the saved task
+ * context is made to look as if it occurred from within the tick ISR.  This
+ * way the same restore context function can be used when restoring the context
+ * saved from the ISR or that saved from a call to vPortYieldProcessor.
+ */
+void vPortYieldProcessor( void )
+{
+	/* Within an IRQ ISR the link register has an offset from the true return
+	address, but an SWI ISR does not.  Add the offset manually so the same
+	ISR return code can be used in both cases. */
+	__asm volatile ( "ADD		LR, LR, #4" );
+
+	/* Perform the context switch.  First save the context of the current task. */
+	portSAVE_CONTEXT();
+
+	/* Find the highest priority task that is ready to run. */
+	__asm volatile ( "bl vTaskSwitchContext" );
+
+	/* Restore the context of the new task. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * The ISR used for the scheduler tick.
+ */
+void vTickISR( void ) __attribute__((naked));
+void vTickISR( void )
+{
+	/* Save the context of the interrupted task. */
+	portSAVE_CONTEXT();
+
+	/* Increment the RTOS tick count, then look for the highest priority
+	task that is ready to run. */
+	__asm volatile
+	(
+		"	bl xTaskIncrementTick	\t\n" \
+		"	cmp r0, #0				\t\n" \
+		"	beq SkipContextSwitch	\t\n" \
+		"	bl vTaskSwitchContext	\t\n" \
+		"SkipContextSwitch:			\t\n"
+	);
+
+	/* Ready for the next interrupt. */
+	T0_IR = portTIMER_MATCH_ISR_BIT;
+	VICVectAddr = portCLEAR_VIC_INTERRUPT;
+
+	/* Restore the context of the new task. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions here to
+ * ensure a switch to ARM mode.  When THUMB_INTERWORK is not defined then
+ * the utilities are defined as macros in portmacro.h - as per other ports.
+ */
+#ifdef THUMB_INTERWORK
+
+	void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	void vPortDisableInterruptsFromThumb( void )
+	{
+		__asm volatile (
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.						*/
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
+			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+			"BX		R14" );					/* Return back to thumb.					*/
+	}
+
+	void vPortEnableInterruptsFromThumb( void )
+	{
+		__asm volatile (
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
+			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+			"BX		R14" );					/* Return back to thumb.					*/
+	}
+
+#endif /* THUMB_INTERWORK */
+
+/* The code generated by the GCC compiler uses the stack in different ways at
+different optimisation levels.  The interrupt flags can therefore not always
+be saved to the stack.  Instead the critical section nesting level is stored
+in a variable, which is then saved as part of the stack context. */
+void vPortEnterCritical( void )
+{
+	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
+	__asm volatile (
+		"STMDB	SP!, {R0}			\n\t"	/* Push R0.								*/
+		"MRS	R0, CPSR			\n\t"	/* Get CPSR.							*/
+		"ORR	R0, R0, #0xC0		\n\t"	/* Disable IRQ, FIQ.					*/
+		"MSR	CPSR, R0			\n\t"	/* Write back modified value.			*/
+		"LDMIA	SP!, {R0}" );				/* Pop R0.								*/
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as we are leaving a critical section. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then interrupts should be
+		re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Enable interrupts as per portEXIT_CRITICAL().					*/
+			__asm volatile (
+				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/
+				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/
+				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/
+				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/
+				"LDMIA	SP!, {R0}" );			/* Pop R0.						*/
+		}
+	}
+}

portable/GCC/ARM7_LPC2000/portmacro.h

@@ -0,0 +1,226 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	portLONG
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+#define portNOP()					__asm volatile ( "NOP" );
+/*-----------------------------------------------------------*/
+
+
+/* Scheduler utilities. */
+
+/*
+ * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR
+ * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but
+ * are included here for efficiency.  An attempt to call one from
+ * THUMB mode code will result in a compile time error.
+ */
+
+#define portRESTORE_CONTEXT()											\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Set the LR to the task stack. */									\
+	__asm volatile (													\
+	"LDR		R0, =pxCurrentTCB								\n\t"	\
+	"LDR		R0, [R0]										\n\t"	\
+	"LDR		LR, [R0]										\n\t"	\
+																		\
+	/* The critical nesting depth is the first item on the stack. */	\
+	/* Load it into the ulCriticalNesting variable. */					\
+	"LDR		R0, =ulCriticalNesting							\n\t"	\
+	"LDMFD	LR!, {R1}											\n\t"	\
+	"STR		R1, [R0]										\n\t"	\
+																		\
+	/* Get the SPSR from the stack. */									\
+	"LDMFD	LR!, {R0}											\n\t"	\
+	"MSR		SPSR, R0										\n\t"	\
+																		\
+	/* Restore all system mode registers for the task. */				\
+	"LDMFD	LR, {R0-R14}^										\n\t"	\
+	"NOP														\n\t"	\
+																		\
+	/* Restore the return address. */									\
+	"LDR		LR, [LR, #+60]									\n\t"	\
+																		\
+	/* And return - correcting the offset in the LR to obtain the */	\
+	/* correct address. */												\
+	"SUBS	PC, LR, #4											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+/*-----------------------------------------------------------*/
+
+#define portSAVE_CONTEXT()												\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Push R0 as we are going to use the register. */					\
+	__asm volatile (													\
+	"STMDB	SP!, {R0}											\n\t"	\
+																		\
+	/* Set R0 to point to the task stack pointer. */					\
+	"STMDB	SP,{SP}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	SP, SP, #4											\n\t"	\
+	"LDMIA	SP!,{R0}											\n\t"	\
+																		\
+	/* Push the return address onto the stack. */						\
+	"STMDB	R0!, {LR}											\n\t"	\
+																		\
+	/* Now we have saved LR we can use it instead of R0. */				\
+	"MOV	LR, R0												\n\t"	\
+																		\
+	/* Pop R0 so we can save it onto the system mode stack. */			\
+	"LDMIA	SP!, {R0}											\n\t"	\
+																		\
+	/* Push all the system mode registers onto the task stack. */		\
+	"STMDB	LR,{R0-LR}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	LR, LR, #60											\n\t"	\
+																		\
+	/* Push the SPSR onto the task stack. */							\
+	"MRS	R0, SPSR											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	"LDR	R0, =ulCriticalNesting								\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	/* Store the new top of stack for the task. */						\
+	"LDR	R0, =pxCurrentTCB									\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STR	LR, [R0]											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+
+extern void vTaskSwitchContext( void );
+#define portYIELD_FROM_ISR()		vTaskSwitchContext()
+#define portYIELD()					__asm volatile ( "SWI 0" )
+/*-----------------------------------------------------------*/
+
+
+/* Critical section management. */
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions in
+ * portISR.c to ensure a switch to ARM mode.  When THUMB_INTERWORK is not
+ * defined then the utilities are defined as macros here - as per other ports.
+ */
+
+#ifdef THUMB_INTERWORK
+
+	extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	#define portDISABLE_INTERRUPTS()	vPortDisableInterruptsFromThumb()
+	#define portENABLE_INTERRUPTS()		vPortEnableInterruptsFromThumb()
+
+#else
+
+	#define portDISABLE_INTERRUPTS()											\
+		__asm volatile (														\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.			*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+	#define portENABLE_INTERRUPTS()												\
+		__asm volatile (														\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+#endif /* THUMB_INTERWORK */
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM7_LPC23xx/port.c

@@ -0,0 +1,233 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM7 port.
+ *
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in this file.  The ISR routines, which can only be compiled
+ * to ARM mode are contained in portISR.c.
+ *----------------------------------------------------------*/
+
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to setup the task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portINSTRUCTION_SIZE			( ( StackType_t ) 4 )
+#define portNO_CRITICAL_SECTION_NESTING	( ( StackType_t ) 0 )
+
+/* Constants required to setup the tick ISR. */
+#define portENABLE_TIMER                ( ( uint8_t ) 0x01 )
+#define portPRESCALE_VALUE              0x00
+#define portINTERRUPT_ON_MATCH          ( ( uint32_t ) 0x01 )
+#define portRESET_COUNT_ON_MATCH        ( ( uint32_t ) 0x02 )
+
+/* Constants required to setup the VIC for the tick ISR. */
+#define portTIMER_VIC_CHANNEL           ( ( uint32_t ) 0x0004 )
+#define portTIMER_VIC_CHANNEL_BIT       ( ( uint32_t ) 0x0010 )
+#define portTIMER_VIC_ENABLE            ( ( uint32_t ) 0x0020 )
+
+/*-----------------------------------------------------------*/
+
+/* Setup the timer to generate the tick interrupts. */
+static void prvSetupTimerInterrupt( void );
+
+/* 
+ * The scheduler can only be started from ARM mode, so 
+ * vPortISRStartFirstSTask() is defined in portISR.c. 
+ */
+extern void vPortISRStartFirstTask( void );
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * Initialise the stack of a task to look exactly as if a call to 
+ * portSAVE_CONTEXT had been called.
+ *
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+StackType_t *pxOriginalTOS;
+
+	pxOriginalTOS = pxTopOfStack;
+	
+	/* To ensure asserts in tasks.c don't fail, although in this case the assert
+	is not really required. */
+	pxTopOfStack--;
+
+	/* Setup the initial stack of the task.  The stack is set exactly as 
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* First on the stack is the return address - which in this case is the
+	start of the task.  The offset is added to make the return address appear
+	as it would within an IRQ ISR. */
+	*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;		
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0x00000000;	/* R14 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;	
+
+	/* When the task starts is will expect to find the function parameter in
+	R0. */
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The last thing onto the stack is the status register, which is set for
+	system mode, with interrupts enabled. */
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
+	{
+		/* We want the task to start in thumb mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+
+	pxTopOfStack--;
+
+	/* Some optimisation levels use the stack differently to others.  This 
+	means the interrupt flags cannot always be stored on the stack and will
+	instead be stored in a variable, which is then saved as part of the
+	tasks context. */
+	*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	prvSetupTimerInterrupt();
+
+	/* Start the first task. */
+	vPortISRStartFirstTask();	
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the ARM port will require this function as there
+	is nothing to return to.  */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the timer 0 to generate the tick interrupts at the required frequency.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+uint32_t ulCompareMatch;
+
+	PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
+	T0TCR  = 2;         /* Stop and reset the timer */
+	T0CTCR = 0;         /* Timer mode               */
+	
+	/* A 1ms tick does not require the use of the timer prescale.  This is
+	defaulted to zero but can be used if necessary. */
+	T0PR = portPRESCALE_VALUE;
+
+	/* Calculate the match value required for our wanted tick rate. */
+	ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
+
+	/* Protect against divide by zero.  Using an if() statement still results
+	in a warning - hence the #if. */
+	#if portPRESCALE_VALUE != 0
+	{
+		ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
+	}
+	#endif
+	T0MR1 = ulCompareMatch;
+
+	/* Generate tick with timer 0 compare match. */
+	T0MCR  = (3 << 3);  /* Reset timer on match and generate interrupt */
+
+	/* Setup the VIC for the timer. */
+	VICIntEnable = 0x00000010;
+	
+	/* The ISR installed depends on whether the preemptive or cooperative
+	scheduler is being used. */
+	#if configUSE_PREEMPTION == 1
+	{
+		extern void ( vPreemptiveTick )( void );
+		VICVectAddr4 = ( int32_t ) vPreemptiveTick;
+	}
+	#else
+	{
+		extern void ( vNonPreemptiveTick )( void );
+		VICVectAddr4 = ( int32_t ) vNonPreemptiveTick;
+	}
+	#endif
+
+	VICVectCntl4 = 1;
+
+	/* Start the timer - interrupts are disabled when this function is called
+	so it is okay to do this here. */
+	T0TCR = portENABLE_TIMER;
+}
+/*-----------------------------------------------------------*/
+
+
+

portable/GCC/ARM7_LPC23xx/portISR.c

@@ -0,0 +1,218 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*-----------------------------------------------------------
+ * Components that can be compiled to either ARM or THUMB mode are
+ * contained in port.c  The ISR routines, which can only be compiled
+ * to ARM mode, are contained in this file.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to handle interrupts. */
+#define portTIMER_MATCH_ISR_BIT		( ( uint8_t ) 0x01 )
+#define portCLEAR_VIC_INTERRUPT		( ( uint32_t ) 0 )
+
+/* Constants required to handle critical sections. */
+#define portNO_CRITICAL_NESTING		( ( uint32_t ) 0 )
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/*-----------------------------------------------------------*/
+
+/* ISR to handle manual context switches (from a call to taskYIELD()). */
+void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
+
+/* 
+ * The scheduler can only be started from ARM mode, hence the inclusion of this
+ * function here.
+ */
+void vPortISRStartFirstTask( void );
+/*-----------------------------------------------------------*/
+
+void vPortISRStartFirstTask( void )
+{
+	/* Simply start the scheduler.  This is included here as it can only be
+	called from ARM mode. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Called by portYIELD() or taskYIELD() to manually force a context switch.
+ *
+ * When a context switch is performed from the task level the saved task 
+ * context is made to look as if it occurred from within the tick ISR.  This
+ * way the same restore context function can be used when restoring the context
+ * saved from the ISR or that saved from a call to vPortYieldProcessor.
+ */
+void vPortYieldProcessor( void )
+{
+	/* Within an IRQ ISR the link register has an offset from the true return 
+	address, but an SWI ISR does not.  Add the offset manually so the same 
+	ISR return code can be used in both cases. */
+	__asm volatile ( "ADD		LR, LR, #4" );
+
+	/* Perform the context switch.  First save the context of the current task. */
+	portSAVE_CONTEXT();
+
+	/* Find the highest priority task that is ready to run. */
+	__asm volatile( "bl			vTaskSwitchContext" );
+
+	/* Restore the context of the new task. */
+	portRESTORE_CONTEXT();	
+}
+/*-----------------------------------------------------------*/
+
+/* 
+ * The ISR used for the scheduler tick depends on whether the cooperative or
+ * the preemptive scheduler is being used.
+ */
+
+
+#if configUSE_PREEMPTION == 0
+
+	/* The cooperative scheduler requires a normal IRQ service routine to 
+	simply increment the system tick. */
+	void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));
+	void vNonPreemptiveTick( void )
+	{	
+		xTaskIncrementTick();
+		T0IR = 2;
+		VICVectAddr = portCLEAR_VIC_INTERRUPT;
+	}
+
+#else
+
+	/* The preemptive scheduler is defined as "naked" as the full context is
+	saved on entry as part of the context switch. */
+	void vPreemptiveTick( void ) __attribute__((naked));
+	void vPreemptiveTick( void )
+	{
+		/* Save the context of the interrupted task. */
+		portSAVE_CONTEXT();	
+
+		/* Increment the RTOS tick count, then look for the highest priority 
+		task that is ready to run. */
+		__asm volatile
+		(
+			"	bl xTaskIncrementTick	\t\n" \
+			"	cmp r0, #0				\t\n" \
+			"	beq SkipContextSwitch	\t\n" \
+			"	bl vTaskSwitchContext	\t\n" \
+			"SkipContextSwitch:			\t\n"
+		);
+
+		/* Ready for the next interrupt. */
+		T0IR = 2;
+		VICVectAddr = portCLEAR_VIC_INTERRUPT;
+		
+		/* Restore the context of the new task. */
+		portRESTORE_CONTEXT();
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions here to
+ * ensure a switch to ARM mode.  When THUMB_INTERWORK is not defined then
+ * the utilities are defined as macros in portmacro.h - as per other ports.
+ */
+#ifdef THUMB_INTERWORK
+
+	void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	void vPortDisableInterruptsFromThumb( void )
+	{
+		__asm volatile ( 
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.						*/
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
+			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+			"BX		R14" );					/* Return back to thumb.					*/
+	}
+			
+	void vPortEnableInterruptsFromThumb( void )
+	{
+		__asm volatile ( 
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/	
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/	
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/	
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/	
+			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
+			"BX		R14" );					/* Return back to thumb.					*/
+	}
+
+#endif /* THUMB_INTERWORK */
+
+/* The code generated by the GCC compiler uses the stack in different ways at
+different optimisation levels.  The interrupt flags can therefore not always
+be saved to the stack.  Instead the critical section nesting level is stored
+in a variable, which is then saved as part of the stack context. */
+void vPortEnterCritical( void )
+{
+	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
+	__asm volatile ( 
+		"STMDB	SP!, {R0}			\n\t"	/* Push R0.								*/
+		"MRS	R0, CPSR			\n\t"	/* Get CPSR.							*/
+		"ORR	R0, R0, #0xC0		\n\t"	/* Disable IRQ, FIQ.					*/
+		"MSR	CPSR, R0			\n\t"	/* Write back modified value.			*/
+		"LDMIA	SP!, {R0}" );				/* Pop R0.								*/
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed 
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as we are leaving a critical section. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then interrupts should be
+		re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Enable interrupts as per portEXIT_CRITICAL().					*/
+			__asm volatile ( 
+				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	
+				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	
+				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	
+				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	
+				"LDMIA	SP!, {R0}" );			/* Pop R0.						*/
+		}
+	}
+}

portable/GCC/ARM7_LPC23xx/portmacro.h

@@ -0,0 +1,249 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+	Changes from V3.2.3
+
+	+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
+
+	Changes from V3.2.4
+
+	+ Removed the use of the %0 parameter within the assembler macros and
+	  replaced them with hard coded registers.  This will ensure the
+	  assembler does not select the link register as the temp register as
+	  was occasionally happening previously.
+
+	+ The assembler statements are now included in a single asm block rather
+	  than each line having its own asm block.
+
+	Changes from V4.5.0
+
+	+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
+	  and replaced them with portYIELD_FROM_ISR() macro.  Application code
+	  should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
+	  macros as per the V4.5.1 demo code.
+*/
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	portLONG
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+#define portNOP()					__asm volatile ( "NOP" );
+/*-----------------------------------------------------------*/
+
+
+/* Scheduler utilities. */
+
+/*
+ * portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR
+ * and portEXIT_SWITCHING_ISR can only be called from ARM mode, but
+ * are included here for efficiency.  An attempt to call one from
+ * THUMB mode code will result in a compile time error.
+ */
+
+#define portRESTORE_CONTEXT()											\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Set the LR to the task stack. */									\
+	__asm volatile (													\
+	"LDR		R0, =pxCurrentTCB								\n\t"	\
+	"LDR		R0, [R0]										\n\t"	\
+	"LDR		LR, [R0]										\n\t"	\
+																		\
+	/* The critical nesting depth is the first item on the stack. */	\
+	/* Load it into the ulCriticalNesting variable. */					\
+	"LDR		R0, =ulCriticalNesting							\n\t"	\
+	"LDMFD	LR!, {R1}											\n\t"	\
+	"STR		R1, [R0]										\n\t"	\
+																		\
+	/* Get the SPSR from the stack. */									\
+	"LDMFD	LR!, {R0}											\n\t"	\
+	"MSR		SPSR, R0										\n\t"	\
+																		\
+	/* Restore all system mode registers for the task. */				\
+	"LDMFD	LR, {R0-R14}^										\n\t"	\
+	"NOP														\n\t"	\
+																		\
+	/* Restore the return address. */									\
+	"LDR		LR, [LR, #+60]									\n\t"	\
+																		\
+	/* And return - correcting the offset in the LR to obtain the */	\
+	/* correct address. */												\
+	"SUBS	PC, LR, #4											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+/*-----------------------------------------------------------*/
+
+#define portSAVE_CONTEXT()												\
+{																		\
+extern volatile void * volatile pxCurrentTCB;							\
+extern volatile uint32_t ulCriticalNesting;					\
+																		\
+	/* Push R0 as we are going to use the register. */					\
+	__asm volatile (													\
+	"STMDB	SP!, {R0}											\n\t"	\
+																		\
+	/* Set R0 to point to the task stack pointer. */					\
+	"STMDB	SP,{SP}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	SP, SP, #4											\n\t"	\
+	"LDMIA	SP!,{R0}											\n\t"	\
+																		\
+	/* Push the return address onto the stack. */						\
+	"STMDB	R0!, {LR}											\n\t"	\
+																		\
+	/* Now we have saved LR we can use it instead of R0. */				\
+	"MOV	LR, R0												\n\t"	\
+																		\
+	/* Pop R0 so we can save it onto the system mode stack. */			\
+	"LDMIA	SP!, {R0}											\n\t"	\
+																		\
+	/* Push all the system mode registers onto the task stack. */		\
+	"STMDB	LR,{R0-LR}^											\n\t"	\
+	"NOP														\n\t"	\
+	"SUB	LR, LR, #60											\n\t"	\
+																		\
+	/* Push the SPSR onto the task stack. */							\
+	"MRS	R0, SPSR											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	"LDR	R0, =ulCriticalNesting								\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STMDB	LR!, {R0}											\n\t"	\
+																		\
+	/* Store the new top of stack for the task. */						\
+	"LDR	R0, =pxCurrentTCB									\n\t"	\
+	"LDR	R0, [R0]											\n\t"	\
+	"STR	LR, [R0]											\n\t"	\
+	);																	\
+	( void ) ulCriticalNesting;											\
+	( void ) pxCurrentTCB;												\
+}
+
+
+#define portYIELD_FROM_ISR()		vTaskSwitchContext()
+#define portYIELD()					__asm volatile ( "SWI 0" )
+/*-----------------------------------------------------------*/
+
+
+/* Critical section management. */
+
+/*
+ * The interrupt management utilities can only be called from ARM mode.  When
+ * THUMB_INTERWORK is defined the utilities are defined as functions in
+ * portISR.c to ensure a switch to ARM mode.  When THUMB_INTERWORK is not
+ * defined then the utilities are defined as macros here - as per other ports.
+ */
+
+#ifdef THUMB_INTERWORK
+
+	extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
+	extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
+
+	#define portDISABLE_INTERRUPTS()	vPortDisableInterruptsFromThumb()
+	#define portENABLE_INTERRUPTS()		vPortEnableInterruptsFromThumb()
+
+#else
+
+	#define portDISABLE_INTERRUPTS()											\
+		__asm volatile (															\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.			*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+	#define portENABLE_INTERRUPTS()												\
+		__asm volatile (															\
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	\
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	\
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	\
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	\
+			"LDMIA	SP!, {R0}			" )	/* Pop R0.						*/
+
+#endif /* THUMB_INTERWORK */
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CA53_64_BIT/port.c

@@ -0,0 +1,518 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
+	#error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET
+	#error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configUNIQUE_INTERRUPT_PRIORITIES
+	#error configUNIQUE_INTERRUPT_PRIORITIES must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configSETUP_TICK_INTERRUPT
+	#error configSETUP_TICK_INTERRUPT() must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif /* configSETUP_TICK_INTERRUPT */
+
+#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
+#endif
+
+#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/* In case security extensions are implemented. */
+#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
+#endif
+
+/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
+portmacro.h. */
+#ifndef configCLEAR_TICK_INTERRUPT
+	#define configCLEAR_TICK_INTERRUPT()
+#endif
+
+/* A critical section is exited when the critical section nesting count reaches
+this value. */
+#define portNO_CRITICAL_NESTING			( ( size_t ) 0 )
+
+/* In all GICs 255 can be written to the priority mask register to unmask all
+(but the lowest) interrupt priority. */
+#define portUNMASK_VALUE				( 0xFFUL )
+
+/* Tasks are not created with a floating point context, but can be given a
+floating point context after they have been created.  A variable is stored as
+part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
+does not have an FPU context, or any other value if the task does have an FPU
+context. */
+#define portNO_FLOATING_POINT_CONTEXT	( ( StackType_t ) 0 )
+
+/* Constants required to setup the initial task context. */
+#define portSP_ELx						( ( StackType_t ) 0x01 )
+#define portSP_EL0						( ( StackType_t ) 0x00 )
+
+#if defined( GUEST )
+	#define portEL1						( ( StackType_t ) 0x04 )
+	#define portINITIAL_PSTATE				( portEL1 | portSP_EL0 )
+#else
+	#define portEL3						( ( StackType_t ) 0x0c )
+	/* At the time of writing, the BSP only supports EL3. */
+	#define portINITIAL_PSTATE			( portEL3 | portSP_EL0 )
+#endif
+
+
+/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
+point is zero. */
+#define portBINARY_POINT_BITS			( ( uint8_t ) 0x03 )
+
+/* Masks all bits in the APSR other than the mode bits. */
+#define portAPSR_MODE_BITS_MASK			( 0x0C )
+
+/* The I bit in the DAIF bits. */
+#define portDAIF_I						( 0x80 )
+
+/* Macro to unmask all interrupt priorities. */
+#define portCLEAR_INTERRUPT_MASK()									\
+{																	\
+	portDISABLE_INTERRUPTS();										\
+	portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE;			\
+	__asm volatile (	"DSB SY		\n"								\
+						"ISB SY		\n" );							\
+	portENABLE_INTERRUPTS();										\
+}
+
+/* Hardware specifics used when sanity checking the configuration. */
+#define portINTERRUPT_PRIORITY_REGISTER_OFFSET		0x400UL
+#define portMAX_8_BIT_VALUE							( ( uint8_t ) 0xff )
+#define portBIT_0_SET								( ( uint8_t ) 0x01 )
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts the first task executing.  This function is necessarily written in
+ * assembly code so is implemented in portASM.s.
+ */
+extern void vPortRestoreTaskContext( void );
+
+/*-----------------------------------------------------------*/
+
+/* A variable is used to keep track of the critical section nesting.  This
+variable has to be stored as part of the task context and must be initialised to
+a non zero value to ensure interrupts don't inadvertently become unmasked before
+the scheduler starts.  As it is stored as part of the task context it will
+automatically be set to 0 when the first task is started. */
+volatile uint64_t ullCriticalNesting = 9999ULL;
+
+/* Saved as part of the task context.  If ullPortTaskHasFPUContext is non-zero
+then floating point context must be saved and restored for the task. */
+uint64_t ullPortTaskHasFPUContext = pdFALSE;
+
+/* Set to 1 to pend a context switch from an ISR. */
+uint64_t ullPortYieldRequired = pdFALSE;
+
+/* Counts the interrupt nesting depth.  A context switch is only performed if
+if the nesting depth is 0. */
+uint64_t ullPortInterruptNesting = 0;
+
+/* Used in the ASM code. */
+__attribute__(( used )) const uint64_t ullICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
+__attribute__(( used )) const uint64_t ullICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
+__attribute__(( used )) const uint64_t ullICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
+__attribute__(( used )) const uint64_t ullMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Setup the initial stack of the task.  The stack is set exactly as
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* First all the general purpose registers. */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0101010101010101ULL;	/* R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0303030303030303ULL;	/* R3 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0202020202020202ULL;	/* R2 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0505050505050505ULL;	/* R5 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0404040404040404ULL;	/* R4 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0707070707070707ULL;	/* R7 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0606060606060606ULL;	/* R6 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0909090909090909ULL;	/* R9 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x0808080808080808ULL;	/* R8 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1111111111111111ULL;	/* R11 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1010101010101010ULL;	/* R10 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1313131313131313ULL;	/* R13 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1212121212121212ULL;	/* R12 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1515151515151515ULL;	/* R15 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1414141414141414ULL;	/* R14 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1717171717171717ULL;	/* R17 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1616161616161616ULL;	/* R16 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1919191919191919ULL;	/* R19 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x1818181818181818ULL;	/* R18 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2121212121212121ULL;	/* R21 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2020202020202020ULL;	/* R20 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2323232323232323ULL;	/* R23 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2222222222222222ULL;	/* R22 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2525252525252525ULL;	/* R25 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2424242424242424ULL;	/* R24 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2727272727272727ULL;	/* R27 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2626262626262626ULL;	/* R26 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2929292929292929ULL;	/* R29 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x2828282828282828ULL;	/* R28 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x00;	/* XZR - has no effect, used so there are an even number of registers. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x00;	/* R30 - procedure call link register. */
+	pxTopOfStack--;
+
+	*pxTopOfStack = portINITIAL_PSTATE;
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */
+	pxTopOfStack--;
+
+	/* The task will start with a critical nesting count of 0 as interrupts are
+	enabled. */
+	*pxTopOfStack = portNO_CRITICAL_NESTING;
+	pxTopOfStack--;
+
+	/* The task will start without a floating point context.  A task that uses
+	the floating point hardware must call vPortTaskUsesFPU() before executing
+	any floating point instructions. */
+	*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+uint32_t ulAPSR;
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine how many priority bits are implemented in the GIC.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to
+		all possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Shift to the least significant bits. */
+		while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
+		{
+			ucMaxPriorityValue >>= ( uint8_t ) 0x01;
+		}
+
+		/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
+		value. */
+
+		configASSERT( ucMaxPriorityValue >= portLOWEST_INTERRUPT_PRIORITY );
+
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+
+	/* At the time of writing, the BSP only supports EL3. */
+	__asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) );
+	ulAPSR &= portAPSR_MODE_BITS_MASK;
+
+#if defined( GUEST )
+	#warning Building for execution as a guest under XEN. THIS IS NOT A FULLY TESTED PATH.
+	configASSERT( ulAPSR == portEL1 );
+	if( ulAPSR == portEL1 )
+#else
+	configASSERT( ulAPSR == portEL3 );
+	if( ulAPSR == portEL3 )
+#endif
+	{
+		/* Only continue if the binary point value is set to its lowest possible
+		setting.  See the comments in vPortValidateInterruptPriority() below for
+		more information. */
+		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
+
+		if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
+		{
+			/* Interrupts are turned off in the CPU itself to ensure a tick does
+			not execute	while the scheduler is being started.  Interrupts are
+			automatically turned back on in the CPU when the first task starts
+			executing. */
+			portDISABLE_INTERRUPTS();
+
+			/* Start the timer that generates the tick ISR. */
+			configSETUP_TICK_INTERRUPT();
+
+			/* Start the first task executing. */
+			vPortRestoreTaskContext();
+		}
+	}
+
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( ullCriticalNesting == 1000ULL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	/* Mask interrupts up to the max syscall interrupt priority. */
+	uxPortSetInterruptMask();
+
+	/* Now interrupts are disabled ullCriticalNesting can be accessed
+	directly.  Increment ullCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ullCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( ullCriticalNesting == 1ULL )
+	{
+		configASSERT( ullPortInterruptNesting == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	if( ullCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as the critical section is being
+		exited. */
+		ullCriticalNesting--;
+
+		/* If the nesting level has reached zero then all interrupt
+		priorities must be re-enabled. */
+		if( ullCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Critical nesting has reached zero so all interrupt priorities
+			should be unmasked. */
+			portCLEAR_INTERRUPT_MASK();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+void FreeRTOS_Tick_Handler( void )
+{
+	/* Must be the lowest possible priority. */
+	#if !defined( QEMU )
+	{
+		configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
+	}
+	#endif
+
+	/* Interrupts should not be enabled before this point. */
+	#if( configASSERT_DEFINED == 1 )
+	{
+		uint32_t ulMaskBits;
+
+		__asm volatile( "mrs %0, daif" : "=r"( ulMaskBits ) :: "memory" );
+		configASSERT( ( ulMaskBits & portDAIF_I ) != 0 );
+	}
+	#endif /* configASSERT_DEFINED */
+
+	/* Set interrupt mask before altering scheduler structures.   The tick
+	handler runs at the lowest priority, so interrupts cannot already be masked,
+	so there is no need to save and restore the current mask value.  It is
+	necessary to turn off interrupts in the CPU itself while the ICCPMR is being
+	updated. */
+	portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+	__asm volatile (	"dsb sy		\n"
+						"isb sy		\n" ::: "memory" );
+
+	/* Ok to enable interrupts after the interrupt source has been cleared. */
+	configCLEAR_TICK_INTERRUPT();
+	portENABLE_INTERRUPTS();
+
+	/* Increment the RTOS tick. */
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		ullPortYieldRequired = pdTRUE;
+	}
+
+	/* Ensure all interrupt priorities are active again. */
+	portCLEAR_INTERRUPT_MASK();
+}
+/*-----------------------------------------------------------*/
+
+void vPortTaskUsesFPU( void )
+{
+	/* A task is registering the fact that it needs an FPU context.  Set the
+	FPU flag (which is saved as part of the task context). */
+	ullPortTaskHasFPUContext = pdTRUE;
+
+	/* Consider initialising the FPSR here - but probably not necessary in
+	AArch64. */
+}
+/*-----------------------------------------------------------*/
+
+void vPortClearInterruptMask( UBaseType_t uxNewMaskValue )
+{
+	if( uxNewMaskValue == pdFALSE )
+	{
+		portCLEAR_INTERRUPT_MASK();
+	}
+}
+/*-----------------------------------------------------------*/
+
+UBaseType_t uxPortSetInterruptMask( void )
+{
+uint32_t ulReturn;
+
+	/* Interrupt in the CPU must be turned off while the ICCPMR is being
+	updated. */
+	portDISABLE_INTERRUPTS();
+	if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
+	{
+		/* Interrupts were already masked. */
+		ulReturn = pdTRUE;
+	}
+	else
+	{
+		ulReturn = pdFALSE;
+		portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+		__asm volatile (	"dsb sy		\n"
+							"isb sy		\n" ::: "memory" );
+	}
+	portENABLE_INTERRUPTS();
+
+	return ulReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+		/* The following assertion will fail if a service routine (ISR) for
+		an interrupt that has been assigned a priority above
+		configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+		function.  ISR safe FreeRTOS API functions must *only* be called
+		from interrupts that have been assigned a priority at or below
+		configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+		Numerically low interrupt priority numbers represent logically high
+		interrupt priorities, therefore the priority of the interrupt must
+		be set to a value equal to or numerically *higher* than
+		configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+		FreeRTOS maintains separate thread and ISR API functions to ensure
+		interrupt entry is as fast and simple as possible. */
+		configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
+
+		/* Priority grouping:  The interrupt controller (GIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		The priority grouping is configured by the GIC's binary point register
+		(ICCBPR).  Writting 0 to ICCBPR will ensure it is set to its lowest
+		possible value (which may be above 0). */
+		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
+	}
+
+#endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/
+

portable/GCC/ARM_CA53_64_BIT/portASM.S

@@ -0,0 +1,431 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+	.text
+
+	/* Variables and functions. */
+	.extern ullMaxAPIPriorityMask
+	.extern pxCurrentTCB
+	.extern vTaskSwitchContext
+	.extern vApplicationIRQHandler
+	.extern ullPortInterruptNesting
+	.extern ullPortTaskHasFPUContext
+	.extern ullCriticalNesting
+	.extern ullPortYieldRequired
+	.extern ullICCEOIR
+	.extern ullICCIAR
+	.extern _freertos_vector_table
+
+	.global FreeRTOS_IRQ_Handler
+	.global FreeRTOS_SWI_Handler
+	.global vPortRestoreTaskContext
+
+
+.macro portSAVE_CONTEXT
+
+	/* Switch to use the EL0 stack pointer. */
+	MSR 	SPSEL, #0
+
+	/* Save the entire context. */
+	STP 	X0, X1, [SP, #-0x10]!
+	STP 	X2, X3, [SP, #-0x10]!
+	STP 	X4, X5, [SP, #-0x10]!
+	STP 	X6, X7, [SP, #-0x10]!
+	STP 	X8, X9, [SP, #-0x10]!
+	STP 	X10, X11, [SP, #-0x10]!
+	STP 	X12, X13, [SP, #-0x10]!
+	STP 	X14, X15, [SP, #-0x10]!
+	STP 	X16, X17, [SP, #-0x10]!
+	STP 	X18, X19, [SP, #-0x10]!
+	STP 	X20, X21, [SP, #-0x10]!
+	STP 	X22, X23, [SP, #-0x10]!
+	STP 	X24, X25, [SP, #-0x10]!
+	STP 	X26, X27, [SP, #-0x10]!
+	STP 	X28, X29, [SP, #-0x10]!
+	STP 	X30, XZR, [SP, #-0x10]!
+
+	/* Save the SPSR. */
+#if defined( GUEST )
+	MRS		X3, SPSR_EL1
+	MRS		X2, ELR_EL1
+#else
+	MRS		X3, SPSR_EL3
+	/* Save the ELR. */
+	MRS		X2, ELR_EL3
+#endif
+
+	STP 	X2, X3, [SP, #-0x10]!
+
+	/* Save the critical section nesting depth. */
+	LDR		X0, ullCriticalNestingConst
+	LDR		X3, [X0]
+
+	/* Save the FPU context indicator. */
+	LDR		X0, ullPortTaskHasFPUContextConst
+	LDR		X2, [X0]
+
+	/* Save the FPU context, if any (32 128-bit registers). */
+	CMP		X2, #0
+	B.EQ	1f
+	STP		Q0, Q1, [SP,#-0x20]!
+	STP		Q2, Q3, [SP,#-0x20]!
+	STP		Q4, Q5, [SP,#-0x20]!
+	STP		Q6, Q7, [SP,#-0x20]!
+	STP		Q8, Q9, [SP,#-0x20]!
+	STP		Q10, Q11, [SP,#-0x20]!
+	STP		Q12, Q13, [SP,#-0x20]!
+	STP		Q14, Q15, [SP,#-0x20]!
+	STP		Q16, Q17, [SP,#-0x20]!
+	STP		Q18, Q19, [SP,#-0x20]!
+	STP		Q20, Q21, [SP,#-0x20]!
+	STP		Q22, Q23, [SP,#-0x20]!
+	STP		Q24, Q25, [SP,#-0x20]!
+	STP		Q26, Q27, [SP,#-0x20]!
+	STP		Q28, Q29, [SP,#-0x20]!
+	STP		Q30, Q31, [SP,#-0x20]!
+
+1:
+	/* Store the critical nesting count and FPU context indicator. */
+	STP 	X2, X3, [SP, #-0x10]!
+
+	LDR 	X0, pxCurrentTCBConst
+	LDR 	X1, [X0]
+	MOV 	X0, SP   /* Move SP into X0 for saving. */
+	STR 	X0, [X1]
+
+	/* Switch to use the ELx stack pointer. */
+	MSR 	SPSEL, #1
+
+	.endm
+
+; /**********************************************************************/
+
+.macro portRESTORE_CONTEXT
+
+	/* Switch to use the EL0 stack pointer. */
+	MSR 	SPSEL, #0
+
+	/* Set the SP to point to the stack of the task being restored. */
+	LDR		X0, pxCurrentTCBConst
+	LDR		X1, [X0]
+	LDR		X0, [X1]
+	MOV		SP, X0
+
+	LDP 	X2, X3, [SP], #0x10  /* Critical nesting and FPU context. */
+
+	/* Set the PMR register to be correct for the current critical nesting
+	depth. */
+	LDR		X0, ullCriticalNestingConst /* X0 holds the address of ullCriticalNesting. */
+	MOV		X1, #255					/* X1 holds the unmask value. */
+	LDR		X4, ullICCPMRConst			/* X4 holds the address of the ICCPMR constant. */
+	CMP		X3, #0
+	LDR		X5, [X4] 					/* X5 holds the address of the ICCPMR register. */
+	B.EQ	1f
+	LDR		X6, ullMaxAPIPriorityMaskConst
+	LDR		X1, [X6]					/* X1 holds the mask value. */
+1:
+	STR		W1, [X5]					/* Write the mask value to ICCPMR. */
+	DSB 	SY							/* _RB_Barriers probably not required here. */
+	ISB 	SY
+	STR		X3, [X0]					/* Restore the task's critical nesting count. */
+
+	/* Restore the FPU context indicator. */
+	LDR		X0, ullPortTaskHasFPUContextConst
+	STR		X2, [X0]
+
+	/* Restore the FPU context, if any. */
+	CMP		X2, #0
+	B.EQ	1f
+	LDP		Q30, Q31, [SP], #0x20
+	LDP		Q28, Q29, [SP], #0x20
+	LDP		Q26, Q27, [SP], #0x20
+	LDP		Q24, Q25, [SP], #0x20
+	LDP		Q22, Q23, [SP], #0x20
+	LDP		Q20, Q21, [SP], #0x20
+	LDP		Q18, Q19, [SP], #0x20
+	LDP		Q16, Q17, [SP], #0x20
+	LDP		Q14, Q15, [SP], #0x20
+	LDP		Q12, Q13, [SP], #0x20
+	LDP		Q10, Q11, [SP], #0x20
+	LDP		Q8, Q9, [SP], #0x20
+	LDP		Q6, Q7, [SP], #0x20
+	LDP		Q4, Q5, [SP], #0x20
+	LDP		Q2, Q3, [SP], #0x20
+	LDP		Q0, Q1, [SP], #0x20
+1:
+	LDP 	X2, X3, [SP], #0x10  /* SPSR and ELR. */
+
+#if defined( GUEST )
+	/* Restore the SPSR. */
+	MSR		SPSR_EL1, X3
+	/* Restore the ELR. */
+	MSR		ELR_EL1, X2
+#else
+	/* Restore the SPSR. */
+	MSR		SPSR_EL3, X3 /*_RB_ Assumes started in EL3. */
+	/* Restore the ELR. */
+	MSR		ELR_EL3, X2
+#endif
+
+	LDP 	X30, XZR, [SP], #0x10
+	LDP 	X28, X29, [SP], #0x10
+	LDP 	X26, X27, [SP], #0x10
+	LDP 	X24, X25, [SP], #0x10
+	LDP 	X22, X23, [SP], #0x10
+	LDP 	X20, X21, [SP], #0x10
+	LDP 	X18, X19, [SP], #0x10
+	LDP 	X16, X17, [SP], #0x10
+	LDP 	X14, X15, [SP], #0x10
+	LDP 	X12, X13, [SP], #0x10
+	LDP 	X10, X11, [SP], #0x10
+	LDP 	X8, X9, [SP], #0x10
+	LDP 	X6, X7, [SP], #0x10
+	LDP 	X4, X5, [SP], #0x10
+	LDP 	X2, X3, [SP], #0x10
+	LDP 	X0, X1, [SP], #0x10
+
+	/* Switch to use the ELx stack pointer.  _RB_ Might not be required. */
+	MSR 	SPSEL, #1
+
+	ERET
+
+	.endm
+
+
+/******************************************************************************
+ * FreeRTOS_SWI_Handler handler is used to perform a context switch.
+ *****************************************************************************/
+.align 8
+.type FreeRTOS_SWI_Handler, %function
+FreeRTOS_SWI_Handler:
+	/* Save the context of the current task and select a new task to run. */
+	portSAVE_CONTEXT
+#if defined( GUEST )
+	MRS		X0, ESR_EL1
+#else
+	MRS		X0, ESR_EL3
+#endif
+
+	LSR		X1, X0, #26
+
+#if defined( GUEST )
+	CMP		X1, #0x15 	/* 0x15 = SVC instruction. */
+#else
+	CMP		X1, #0x17 	/* 0x17 = SMC instruction. */
+#endif
+	B.NE	FreeRTOS_Abort
+	BL 		vTaskSwitchContext
+
+	portRESTORE_CONTEXT
+
+FreeRTOS_Abort:
+	/* Full ESR is in X0, exception class code is in X1. */
+	B		.
+
+/******************************************************************************
+ * vPortRestoreTaskContext is used to start the scheduler.
+ *****************************************************************************/
+.align 8
+.type vPortRestoreTaskContext, %function
+vPortRestoreTaskContext:
+.set freertos_vector_base,	_freertos_vector_table
+
+	/* Install the FreeRTOS interrupt handlers. */
+	LDR		X1, =freertos_vector_base
+#if defined( GUEST )
+	MSR		VBAR_EL1, X1
+#else
+	MSR		VBAR_EL3, X1
+#endif
+	DSB		SY
+	ISB		SY
+
+	/* Start the first task. */
+	portRESTORE_CONTEXT
+
+
+/******************************************************************************
+ * FreeRTOS_IRQ_Handler handles IRQ entry and exit.
+ *****************************************************************************/
+.align 8
+.type FreeRTOS_IRQ_Handler, %function
+FreeRTOS_IRQ_Handler:
+	/* Save volatile registers. */
+	STP		X0, X1, [SP, #-0x10]!
+	STP		X2, X3, [SP, #-0x10]!
+	STP		X4, X5, [SP, #-0x10]!
+	STP		X6, X7, [SP, #-0x10]!
+	STP		X8, X9, [SP, #-0x10]!
+	STP		X10, X11, [SP, #-0x10]!
+	STP		X12, X13, [SP, #-0x10]!
+	STP		X14, X15, [SP, #-0x10]!
+	STP		X16, X17, [SP, #-0x10]!
+	STP		X18, X19, [SP, #-0x10]!
+	STP		X29, X30, [SP, #-0x10]!
+
+	/* Save the SPSR and ELR. */
+#if defined( GUEST )
+	MRS		X3, SPSR_EL1
+	MRS		X2, ELR_EL1
+#else
+	MRS		X3, SPSR_EL3
+	MRS		X2, ELR_EL3
+#endif
+	STP 	X2, X3, [SP, #-0x10]!
+
+	/* Increment the interrupt nesting counter. */
+	LDR		X5, ullPortInterruptNestingConst
+	LDR		X1, [X5]	/* Old nesting count in X1. */
+	ADD		X6, X1, #1
+	STR		X6, [X5]	/* Address of nesting count variable in X5. */
+
+	/* Maintain the interrupt nesting information across the function call. */
+	STP		X1, X5, [SP, #-0x10]!
+
+	/* Read value from the interrupt acknowledge register, which is stored in W0
+	for future parameter and interrupt clearing use. */
+	LDR 	X2, ullICCIARConst
+	LDR		X3, [X2]
+	LDR		W0, [X3]	/* ICCIAR in W0 as parameter. */
+
+	/* Maintain the ICCIAR value across the function call. */
+	STP		X0, X1, [SP, #-0x10]!
+
+	/* Call the C handler. */
+	BL vApplicationIRQHandler
+
+	/* Disable interrupts. */
+	MSR 	DAIFSET, #2
+	DSB		SY
+	ISB		SY
+
+	/* Restore the ICCIAR value. */
+	LDP		X0, X1, [SP], #0x10
+
+	/* End IRQ processing by writing ICCIAR to the EOI register. */
+	LDR 	X4, ullICCEOIRConst
+	LDR		X4, [X4]
+	STR		W0, [X4]
+
+	/* Restore the critical nesting count. */
+	LDP		X1, X5, [SP], #0x10
+	STR		X1, [X5]
+
+	/* Has interrupt nesting unwound? */
+	CMP		X1, #0
+	B.NE	Exit_IRQ_No_Context_Switch
+
+	/* Is a context switch required? */
+	LDR		X0, ullPortYieldRequiredConst
+	LDR		X1, [X0]
+	CMP		X1, #0
+	B.EQ	Exit_IRQ_No_Context_Switch
+
+	/* Reset ullPortYieldRequired to 0. */
+	MOV		X2, #0
+	STR		X2, [X0]
+
+	/* Restore volatile registers. */
+	LDP 	X4, X5, [SP], #0x10  /* SPSR and ELR. */
+#if defined( GUEST )
+	MSR		SPSR_EL1, X5
+	MSR		ELR_EL1, X4
+#else
+	MSR		SPSR_EL3, X5 /*_RB_ Assumes started in EL3. */
+	MSR		ELR_EL3, X4
+#endif
+	DSB		SY
+	ISB		SY
+
+	LDP		X29, X30, [SP], #0x10
+	LDP		X18, X19, [SP], #0x10
+	LDP		X16, X17, [SP], #0x10
+	LDP		X14, X15, [SP], #0x10
+	LDP		X12, X13, [SP], #0x10
+	LDP		X10, X11, [SP], #0x10
+	LDP		X8, X9, [SP], #0x10
+	LDP		X6, X7, [SP], #0x10
+	LDP		X4, X5, [SP], #0x10
+	LDP		X2, X3, [SP], #0x10
+	LDP		X0, X1, [SP], #0x10
+
+	/* Save the context of the current task and select a new task to run. */
+	portSAVE_CONTEXT
+	BL vTaskSwitchContext
+	portRESTORE_CONTEXT
+
+Exit_IRQ_No_Context_Switch:
+	/* Restore volatile registers. */
+	LDP 	X4, X5, [SP], #0x10  /* SPSR and ELR. */
+#if defined( GUEST )
+	MSR		SPSR_EL1, X5
+	MSR		ELR_EL1, X4
+#else
+	MSR		SPSR_EL3, X5 /*_RB_ Assumes started in EL3. */
+	MSR		ELR_EL3, X4
+#endif
+	DSB		SY
+	ISB		SY
+
+	LDP		X29, X30, [SP], #0x10
+	LDP		X18, X19, [SP], #0x10
+	LDP		X16, X17, [SP], #0x10
+	LDP		X14, X15, [SP], #0x10
+	LDP		X12, X13, [SP], #0x10
+	LDP		X10, X11, [SP], #0x10
+	LDP		X8, X9, [SP], #0x10
+	LDP		X6, X7, [SP], #0x10
+	LDP		X4, X5, [SP], #0x10
+	LDP		X2, X3, [SP], #0x10
+	LDP		X0, X1, [SP], #0x10
+
+	ERET
+
+
+
+
+.align 8
+pxCurrentTCBConst: .dword pxCurrentTCB
+ullCriticalNestingConst: .dword ullCriticalNesting
+ullPortTaskHasFPUContextConst: .dword ullPortTaskHasFPUContext
+
+ullICCPMRConst: .dword ullICCPMR
+ullMaxAPIPriorityMaskConst: .dword ullMaxAPIPriorityMask
+vApplicationIRQHandlerConst: .word vApplicationIRQHandler
+ullPortInterruptNestingConst: .dword ullPortInterruptNesting
+ullPortYieldRequiredConst: .dword ullPortYieldRequired
+ullICCIARConst:	.dword ullICCIAR
+ullICCEOIRConst: .dword ullICCEOIR
+
+
+
+.end
+
+
+
+
+

portable/GCC/ARM_CA53_64_BIT/portmacro.h

@@ -0,0 +1,211 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+	extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	size_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef portBASE_TYPE BaseType_t;
+typedef uint64_t UBaseType_t;
+
+typedef uint64_t TickType_t;
+#define portMAX_DELAY ( ( TickType_t ) 0xffffffffffffffff )
+
+/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+not need to be guarded with a critical section. */
+#define portTICK_TYPE_IS_ATOMIC 1
+
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			16
+#define portPOINTER_SIZE_TYPE 		uint64_t
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/* Called at the end of an ISR that can cause a context switch. */
+#define portEND_SWITCHING_ISR( xSwitchRequired )\
+{												\
+extern uint64_t ullPortYieldRequired;			\
+												\
+	if( xSwitchRequired != pdFALSE )			\
+	{											\
+		ullPortYieldRequired = pdTRUE;			\
+	}											\
+}
+
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+#if defined( GUEST )
+	#define portYIELD() __asm volatile ( "SVC 0" ::: "memory" )
+#else
+	#define portYIELD() __asm volatile ( "SMC 0" ::: "memory" )
+#endif
+/*-----------------------------------------------------------
+ * Critical section control
+ *----------------------------------------------------------*/
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern UBaseType_t uxPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( UBaseType_t uxNewMaskValue );
+extern void vPortInstallFreeRTOSVectorTable( void );
+
+#define portDISABLE_INTERRUPTS()									\
+	__asm volatile ( "MSR DAIFSET, #2" ::: "memory" );				\
+	__asm volatile ( "DSB SY" );									\
+	__asm volatile ( "ISB SY" );
+
+#define portENABLE_INTERRUPTS()										\
+	__asm volatile ( "MSR DAIFCLR, #2" ::: "memory" );				\
+	__asm volatile ( "DSB SY" );									\
+	__asm volatile ( "ISB SY" );
+
+
+/* These macros do not globally disable/enable interrupts.  They do mask off
+interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+#define portSET_INTERRUPT_MASK_FROM_ISR()		uxPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask(x)
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not required for this port but included in case common demo code that uses these
+macros is used. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )	void vFunction( void *pvParameters )
+
+/* Prototype of the FreeRTOS tick handler.  This must be installed as the
+handler for whichever peripheral is used to generate the RTOS tick. */
+void FreeRTOS_Tick_Handler( void );
+
+/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
+before any floating point instructions are executed. */
+void vPortTaskUsesFPU( void );
+#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
+
+#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
+#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( uxReadyPriorities ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif /* configASSERT */
+
+#define portNOP() __asm volatile( "NOP" )
+#define portINLINE __inline
+
+#ifdef __cplusplus
+	} /* extern C */
+#endif
+
+
+/* The number of bits to shift for an interrupt priority is dependent on the
+number of bits implemented by the interrupt controller. */
+#if configUNIQUE_INTERRUPT_PRIORITIES == 16
+	#define portPRIORITY_SHIFT 4
+	#define portMAX_BINARY_POINT_VALUE	3
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 32
+	#define portPRIORITY_SHIFT 3
+	#define portMAX_BINARY_POINT_VALUE	2
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 64
+	#define portPRIORITY_SHIFT 2
+	#define portMAX_BINARY_POINT_VALUE	1
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 128
+	#define portPRIORITY_SHIFT 1
+	#define portMAX_BINARY_POINT_VALUE	0
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 256
+	#define portPRIORITY_SHIFT 0
+	#define portMAX_BINARY_POINT_VALUE	0
+#else
+	#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting.  configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
+#endif
+
+/* Interrupt controller access addresses. */
+#define portICCPMR_PRIORITY_MASK_OFFSET  						( 0x04 )
+#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET 				( 0x0C )
+#define portICCEOIR_END_OF_INTERRUPT_OFFSET 					( 0x10 )
+#define portICCBPR_BINARY_POINT_OFFSET							( 0x08 )
+#define portICCRPR_RUNNING_PRIORITY_OFFSET						( 0x14 )
+
+#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS 		( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET )
+#define portICCPMR_PRIORITY_MASK_REGISTER 					( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) )
+#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS 	( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET )
+#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS 		( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET )
+#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS 			( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET )
+#define portICCBPR_BINARY_POINT_REGISTER 					( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) )
+#define portICCRPR_RUNNING_PRIORITY_REGISTER 				( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CA9/port.c

@@ -0,0 +1,568 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
+	#error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET
+	#error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configUNIQUE_INTERRUPT_PRIORITIES
+	#error configUNIQUE_INTERRUPT_PRIORITIES must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configSETUP_TICK_INTERRUPT
+	#error configSETUP_TICK_INTERRUPT() must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif /* configSETUP_TICK_INTERRUPT */
+
+#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
+#endif
+
+#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/* In case security extensions are implemented. */
+#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
+#endif
+
+/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
+portmacro.h. */
+#ifndef configCLEAR_TICK_INTERRUPT
+	#define configCLEAR_TICK_INTERRUPT()
+#endif
+
+/* A critical section is exited when the critical section nesting count reaches
+this value. */
+#define portNO_CRITICAL_NESTING			( ( uint32_t ) 0 )
+
+/* In all GICs 255 can be written to the priority mask register to unmask all
+(but the lowest) interrupt priority. */
+#define portUNMASK_VALUE				( 0xFFUL )
+
+/* Tasks are not created with a floating point context, but can be given a
+floating point context after they have been created.  A variable is stored as
+part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
+does not have an FPU context, or any other value if the task does have an FPU
+context. */
+#define portNO_FLOATING_POINT_CONTEXT	( ( StackType_t ) 0 )
+
+/* Constants required to setup the initial task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portINTERRUPT_ENABLE_BIT		( 0x80UL )
+#define portTHUMB_MODE_ADDRESS			( 0x01UL )
+
+/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
+point is zero. */
+#define portBINARY_POINT_BITS			( ( uint8_t ) 0x03 )
+
+/* Masks all bits in the APSR other than the mode bits. */
+#define portAPSR_MODE_BITS_MASK			( 0x1F )
+
+/* The value of the mode bits in the APSR when the CPU is executing in user
+mode. */
+#define portAPSR_USER_MODE				( 0x10 )
+
+/* The critical section macros only mask interrupts up to an application
+determined priority level.  Sometimes it is necessary to turn interrupt off in
+the CPU itself before modifying certain hardware registers. */
+#define portCPU_IRQ_DISABLE()										\
+	__asm volatile ( "CPSID i" ::: "memory" );						\
+	__asm volatile ( "DSB" );										\
+	__asm volatile ( "ISB" );
+
+#define portCPU_IRQ_ENABLE()										\
+	__asm volatile ( "CPSIE i" ::: "memory" );						\
+	__asm volatile ( "DSB" );										\
+	__asm volatile ( "ISB" );
+
+
+/* Macro to unmask all interrupt priorities. */
+#define portCLEAR_INTERRUPT_MASK()									\
+{																	\
+	portCPU_IRQ_DISABLE();											\
+	portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE;			\
+	__asm volatile (	"DSB		\n"								\
+						"ISB		\n" );							\
+	portCPU_IRQ_ENABLE();											\
+}
+
+#define portINTERRUPT_PRIORITY_REGISTER_OFFSET		0x400UL
+#define portMAX_8_BIT_VALUE							( ( uint8_t ) 0xff )
+#define portBIT_0_SET								( ( uint8_t ) 0x01 )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/* The space on the stack required to hold the FPU registers.  This is 32 64-bit
+registers, plus a 32-bit status register. */
+#define portFPU_REGISTER_WORDS	( ( 32 * 2 ) + 1 )
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts the first task executing.  This function is necessarily written in
+ * assembly code so is implemented in portASM.s.
+ */
+extern void vPortRestoreTaskContext( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*
+ * If the application provides an implementation of vApplicationIRQHandler(),
+ * then it will get called directly without saving the FPU registers on
+ * interrupt entry, and this weak implementation of
+ * vApplicationFPUSafeIRQHandler() is just provided to remove linkage errors -
+ * it should never actually get called so its implementation contains a
+ * call to configASSERT() that will always fail.
+ *
+ * If the application provides its own implementation of
+ * vApplicationFPUSafeIRQHandler() then the implementation of
+ * vApplicationIRQHandler() provided in portASM.S will save the FPU registers
+ * before calling it.
+ *
+ * Therefore, if the application writer wants FPU registers to be saved on
+ * interrupt entry their IRQ handler must be called
+ * vApplicationFPUSafeIRQHandler(), and if the application writer does not want
+ * FPU registers to be saved on interrupt entry their IRQ handler must be
+ * called vApplicationIRQHandler().
+ */
+void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) );
+
+/*-----------------------------------------------------------*/
+
+/* A variable is used to keep track of the critical section nesting.  This
+variable has to be stored as part of the task context and must be initialised to
+a non zero value to ensure interrupts don't inadvertently become unmasked before
+the scheduler starts.  As it is stored as part of the task context it will
+automatically be set to 0 when the first task is started. */
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/* Saved as part of the task context.  If ulPortTaskHasFPUContext is non-zero then
+a floating point context must be saved and restored for the task. */
+volatile uint32_t ulPortTaskHasFPUContext = pdFALSE;
+
+/* Set to 1 to pend a context switch from an ISR. */
+volatile uint32_t ulPortYieldRequired = pdFALSE;
+
+/* Counts the interrupt nesting depth.  A context switch is only performed if
+if the nesting depth is 0. */
+volatile uint32_t ulPortInterruptNesting = 0UL;
+
+/* Used in the asm file. */
+__attribute__(( used )) const uint32_t ulICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
+__attribute__(( used )) const uint32_t ulICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
+__attribute__(( used )) const uint32_t ulICCPMR	= portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
+__attribute__(( used )) const uint32_t ulMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Setup the initial stack of the task.  The stack is set exactly as
+	expected by the portRESTORE_CONTEXT() macro.
+
+	The fist real value on the stack is the status register, which is set for
+	system mode, with interrupts enabled.  A few NULLs are added first to ensure
+	GDB does not try decoding a non-existent return address. */
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )
+	{
+		/* The task will start in THUMB mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+
+	pxTopOfStack--;
+
+	/* Next the return address, which in this case is the start of the task. */
+	*pxTopOfStack = ( StackType_t ) pxCode;
+	pxTopOfStack--;
+
+	/* Next all the registers other than the stack pointer. */
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* R14 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The task will start with a critical nesting count of 0 as interrupts are
+	enabled. */
+	*pxTopOfStack = portNO_CRITICAL_NESTING;
+
+	#if( configUSE_TASK_FPU_SUPPORT == 1 )
+	{
+		/* The task will start without a floating point context.  A task that
+		uses the floating point hardware must call vPortTaskUsesFPU() before
+		executing any floating point instructions. */
+		pxTopOfStack--;
+		*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+	}
+	#elif( configUSE_TASK_FPU_SUPPORT == 2 )
+	{
+		/* The task will start with a floating point context.  Leave enough
+		space for the registers - and ensure they are initialised to 0. */
+		pxTopOfStack -= portFPU_REGISTER_WORDS;
+		memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) );
+
+		pxTopOfStack--;
+		*pxTopOfStack = pdTRUE;
+		ulPortTaskHasFPUContext = pdTRUE;
+	}
+	#else
+	{
+		#error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined.
+	}
+	#endif
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( ulPortInterruptNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+uint32_t ulAPSR;
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine how many priority bits are implemented in the GIC.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to
+		all possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Shift to the least significant bits. */
+		while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
+		{
+			ucMaxPriorityValue >>= ( uint8_t ) 0x01;
+		}
+
+		/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
+		value. */
+		configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+
+	/* Only continue if the CPU is not in User mode.  The CPU must be in a
+	Privileged mode for the scheduler to start. */
+	__asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) :: "memory" );
+	ulAPSR &= portAPSR_MODE_BITS_MASK;
+	configASSERT( ulAPSR != portAPSR_USER_MODE );
+
+	if( ulAPSR != portAPSR_USER_MODE )
+	{
+		/* Only continue if the binary point value is set to its lowest possible
+		setting.  See the comments in vPortValidateInterruptPriority() below for
+		more information. */
+		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
+
+		if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
+		{
+			/* Interrupts are turned off in the CPU itself to ensure tick does
+			not execute	while the scheduler is being started.  Interrupts are
+			automatically turned back on in the CPU when the first task starts
+			executing. */
+			portCPU_IRQ_DISABLE();
+
+			/* Start the timer that generates the tick ISR. */
+			configSETUP_TICK_INTERRUPT();
+
+			/* Start the first task executing. */
+			vPortRestoreTaskContext();
+		}
+	}
+
+	/* Will only get here if vTaskStartScheduler() was called with the CPU in
+	a non-privileged mode or the binary point register was not set to its lowest
+	possible value.  prvTaskExitError() is referenced to prevent a compiler
+	warning about it being defined but not referenced in the case that the user
+	defines their own exit address. */
+	( void ) prvTaskExitError;
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	/* Mask interrupts up to the max syscall interrupt priority. */
+	ulPortSetInterruptMask();
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( ulCriticalNesting == 1 )
+	{
+		configASSERT( ulPortInterruptNesting == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as the critical section is being
+		exited. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then all interrupt
+		priorities must be re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Critical nesting has reached zero so all interrupt priorities
+			should be unmasked. */
+			portCLEAR_INTERRUPT_MASK();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+void FreeRTOS_Tick_Handler( void )
+{
+	/* Set interrupt mask before altering scheduler structures.   The tick
+	handler runs at the lowest priority, so interrupts cannot already be masked,
+	so there is no need to save and restore the current mask value.  It is
+	necessary to turn off interrupts in the CPU itself while the ICCPMR is being
+	updated. */
+	portCPU_IRQ_DISABLE();
+	portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+	__asm volatile (	"dsb		\n"
+						"isb		\n" ::: "memory" );
+	portCPU_IRQ_ENABLE();
+
+	/* Increment the RTOS tick. */
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		ulPortYieldRequired = pdTRUE;
+	}
+
+	/* Ensure all interrupt priorities are active again. */
+	portCLEAR_INTERRUPT_MASK();
+	configCLEAR_TICK_INTERRUPT();
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_FPU_SUPPORT != 2 )
+
+	void vPortTaskUsesFPU( void )
+	{
+	uint32_t ulInitialFPSCR = 0;
+
+		/* A task is registering the fact that it needs an FPU context.  Set the
+		FPU flag (which is saved as part of the task context). */
+		ulPortTaskHasFPUContext = pdTRUE;
+
+		/* Initialise the floating point status register. */
+		__asm volatile ( "FMXR 	FPSCR, %0" :: "r" (ulInitialFPSCR) : "memory" );
+	}
+
+#endif /* configUSE_TASK_FPU_SUPPORT */
+/*-----------------------------------------------------------*/
+
+void vPortClearInterruptMask( uint32_t ulNewMaskValue )
+{
+	if( ulNewMaskValue == pdFALSE )
+	{
+		portCLEAR_INTERRUPT_MASK();
+	}
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulPortSetInterruptMask( void )
+{
+uint32_t ulReturn;
+
+	/* Interrupt in the CPU must be turned off while the ICCPMR is being
+	updated. */
+	portCPU_IRQ_DISABLE();
+	if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
+	{
+		/* Interrupts were already masked. */
+		ulReturn = pdTRUE;
+	}
+	else
+	{
+		ulReturn = pdFALSE;
+		portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+		__asm volatile (	"dsb		\n"
+							"isb		\n" ::: "memory" );
+	}
+	portCPU_IRQ_ENABLE();
+
+	return ulReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+		/* The following assertion will fail if a service routine (ISR) for
+		an interrupt that has been assigned a priority above
+		configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+		function.  ISR safe FreeRTOS API functions must *only* be called
+		from interrupts that have been assigned a priority at or below
+		configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+		Numerically low interrupt priority numbers represent logically high
+		interrupt priorities, therefore the priority of the interrupt must
+		be set to a value equal to or numerically *higher* than
+		configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+		FreeRTOS maintains separate thread and ISR API functions to ensure
+		interrupt entry is as fast and simple as possible. */
+		configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
+
+		/* Priority grouping:  The interrupt controller (GIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		The priority grouping is configured by the GIC's binary point register
+		(ICCBPR).  Writting 0 to ICCBPR will ensure it is set to its lowest
+		possible value (which may be above 0). */
+		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
+	}
+
+#endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/
+
+void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
+{
+	( void ) ulICCIAR;
+	configASSERT( ( volatile void * ) NULL );
+}

portable/GCC/ARM_CA9/portASM.S

@@ -0,0 +1,323 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+	.text
+	.arm
+
+	.set SYS_MODE,	0x1f
+	.set SVC_MODE,	0x13
+	.set IRQ_MODE,	0x12
+
+	/* Hardware registers. */
+	.extern ulICCIAR
+	.extern ulICCEOIR
+	.extern ulICCPMR
+
+	/* Variables and functions. */
+	.extern ulMaxAPIPriorityMask
+	.extern _freertos_vector_table
+	.extern pxCurrentTCB
+	.extern vTaskSwitchContext
+	.extern vApplicationIRQHandler
+	.extern ulPortInterruptNesting
+	.extern ulPortTaskHasFPUContext
+
+	.global FreeRTOS_IRQ_Handler
+	.global FreeRTOS_SWI_Handler
+	.global vPortRestoreTaskContext
+
+
+
+
+.macro portSAVE_CONTEXT
+
+	/* Save the LR and SPSR onto the system mode stack before switching to
+	system mode to save the remaining system mode registers. */
+	SRSDB	sp!, #SYS_MODE
+	CPS		#SYS_MODE
+	PUSH	{R0-R12, R14}
+
+	/* Push the critical nesting count. */
+	LDR		R2, ulCriticalNestingConst
+	LDR		R1, [R2]
+	PUSH	{R1}
+
+	/* Does the task have a floating point context that needs saving?  If
+	ulPortTaskHasFPUContext is 0 then no. */
+	LDR		R2, ulPortTaskHasFPUContextConst
+	LDR		R3, [R2]
+	CMP		R3, #0
+
+	/* Save the floating point context, if any. */
+	FMRXNE  R1,  FPSCR
+	VPUSHNE {D0-D15}
+	VPUSHNE	{D16-D31}
+	PUSHNE	{R1}
+
+	/* Save ulPortTaskHasFPUContext itself. */
+	PUSH	{R3}
+
+	/* Save the stack pointer in the TCB. */
+	LDR		R0, pxCurrentTCBConst
+	LDR		R1, [R0]
+	STR		SP, [R1]
+
+	.endm
+
+; /**********************************************************************/
+
+.macro portRESTORE_CONTEXT
+
+	/* Set the SP to point to the stack of the task being restored. */
+	LDR		R0, pxCurrentTCBConst
+	LDR		R1, [R0]
+	LDR		SP, [R1]
+
+	/* Is there a floating point context to restore?  If the restored
+	ulPortTaskHasFPUContext is zero then no. */
+	LDR		R0, ulPortTaskHasFPUContextConst
+	POP		{R1}
+	STR		R1, [R0]
+	CMP		R1, #0
+
+	/* Restore the floating point context, if any. */
+	POPNE 	{R0}
+	VPOPNE	{D16-D31}
+	VPOPNE	{D0-D15}
+	VMSRNE  FPSCR, R0
+
+	/* Restore the critical section nesting depth. */
+	LDR		R0, ulCriticalNestingConst
+	POP		{R1}
+	STR		R1, [R0]
+
+	/* Ensure the priority mask is correct for the critical nesting depth. */
+	LDR		R2, ulICCPMRConst
+	LDR		R2, [R2]
+	CMP		R1, #0
+	MOVEQ	R4, #255
+	LDRNE	R4, ulMaxAPIPriorityMaskConst
+	LDRNE	R4, [R4]
+	STR		R4, [R2]
+
+	/* Restore all system mode registers other than the SP (which is already
+	being used). */
+	POP		{R0-R12, R14}
+
+	/* Return to the task code, loading CPSR on the way. */
+	RFEIA	sp!
+
+	.endm
+
+
+
+
+/******************************************************************************
+ * SVC handler is used to start the scheduler.
+ *****************************************************************************/
+.align 4
+.type FreeRTOS_SWI_Handler, %function
+FreeRTOS_SWI_Handler:
+	/* Save the context of the current task and select a new task to run. */
+	portSAVE_CONTEXT
+	LDR R0, vTaskSwitchContextConst
+	BLX	R0
+	portRESTORE_CONTEXT
+
+
+/******************************************************************************
+ * vPortRestoreTaskContext is used to start the scheduler.
+ *****************************************************************************/
+.type vPortRestoreTaskContext, %function
+vPortRestoreTaskContext:
+	/* Switch to system mode. */
+	CPS		#SYS_MODE
+	portRESTORE_CONTEXT
+
+.align 4
+.type FreeRTOS_IRQ_Handler, %function
+FreeRTOS_IRQ_Handler:
+	/* Return to the interrupted instruction. */
+	SUB		lr, lr, #4
+
+	/* Push the return address and SPSR. */
+	PUSH	{lr}
+	MRS		lr, SPSR
+	PUSH	{lr}
+
+	/* Change to supervisor mode to allow reentry. */
+	CPS		#SVC_MODE
+
+	/* Push used registers. */
+	PUSH	{r0-r4, r12}
+
+	/* Increment nesting count.  r3 holds the address of ulPortInterruptNesting
+	for future use.  r1 holds the original ulPortInterruptNesting value for
+	future use. */
+	LDR		r3, ulPortInterruptNestingConst
+	LDR		r1, [r3]
+	ADD		r4, r1, #1
+	STR		r4, [r3]
+
+	/* Read value from the interrupt acknowledge register, which is stored in r0
+	for future parameter and interrupt clearing use. */
+	LDR 	r2, ulICCIARConst
+	LDR		r2, [r2]
+	LDR		r0, [r2]
+
+	/* Ensure bit 2 of the stack pointer is clear.  r2 holds the bit 2 value for
+	future use.  _RB_ Does this ever actually need to be done provided the start
+	of the stack is 8-byte aligned? */
+	MOV		r2, sp
+	AND		r2, r2, #4
+	SUB		sp, sp, r2
+
+	/* Call the interrupt handler.  r4 pushed to maintain alignment. */
+	PUSH	{r0-r4, lr}
+	LDR		r1, vApplicationIRQHandlerConst
+	BLX		r1
+	POP		{r0-r4, lr}
+	ADD		sp, sp, r2
+
+	CPSID	i
+	DSB
+	ISB
+
+	/* Write the value read from ICCIAR to ICCEOIR. */
+	LDR 	r4, ulICCEOIRConst
+	LDR		r4, [r4]
+	STR		r0, [r4]
+
+	/* Restore the old nesting count. */
+	STR		r1, [r3]
+
+	/* A context switch is never performed if the nesting count is not 0. */
+	CMP		r1, #0
+	BNE		exit_without_switch
+
+	/* Did the interrupt request a context switch?  r1 holds the address of
+	ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
+	use. */
+	LDR		r1, =ulPortYieldRequired
+	LDR		r0, [r1]
+	CMP		r0, #0
+	BNE		switch_before_exit
+
+exit_without_switch:
+	/* No context switch.  Restore used registers, LR_irq and SPSR before
+	returning. */
+	POP		{r0-r4, r12}
+	CPS		#IRQ_MODE
+	POP		{LR}
+	MSR		SPSR_cxsf, LR
+	POP		{LR}
+	MOVS	PC, LR
+
+switch_before_exit:
+	/* A context swtich is to be performed.  Clear the context switch pending
+	flag. */
+	MOV		r0, #0
+	STR		r0, [r1]
+
+	/* Restore used registers, LR-irq and SPSR before saving the context
+	to the task stack. */
+	POP		{r0-r4, r12}
+	CPS		#IRQ_MODE
+	POP		{LR}
+	MSR		SPSR_cxsf, LR
+	POP		{LR}
+	portSAVE_CONTEXT
+
+	/* Call the function that selects the new task to execute.
+	vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
+	instructions, or 8 byte aligned stack allocated data.  LR does not need
+	saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
+	LDR		R0, vTaskSwitchContextConst
+	BLX		R0
+
+	/* Restore the context of, and branch to, the task selected to execute
+	next. */
+	portRESTORE_CONTEXT
+
+
+/******************************************************************************
+ * If the application provides an implementation of vApplicationIRQHandler(),
+ * then it will get called directly without saving the FPU registers on
+ * interrupt entry, and this weak implementation of
+ * vApplicationIRQHandler() will not get called.
+ *
+ * If the application provides its own implementation of
+ * vApplicationFPUSafeIRQHandler() then this implementation of
+ * vApplicationIRQHandler() will be called, save the FPU registers, and then
+ * call vApplicationFPUSafeIRQHandler().
+ *
+ * Therefore, if the application writer wants FPU registers to be saved on
+ * interrupt entry their IRQ handler must be called
+ * vApplicationFPUSafeIRQHandler(), and if the application writer does not want
+ * FPU registers to be saved on interrupt entry their IRQ handler must be
+ * called vApplicationIRQHandler().
+ *****************************************************************************/
+
+.align 4
+.weak vApplicationIRQHandler
+.type vApplicationIRQHandler, %function
+vApplicationIRQHandler:
+	PUSH	{LR}
+	FMRX	R1,  FPSCR
+	VPUSH	{D0-D15}
+	VPUSH	{D16-D31}
+	PUSH	{R1}
+
+	LDR		r1, vApplicationFPUSafeIRQHandlerConst
+	BLX		r1
+
+	POP		{R0}
+	VPOP	{D16-D31}
+	VPOP	{D0-D15}
+	VMSR	FPSCR, R0
+
+	POP {PC}
+
+
+ulICCIARConst:	.word ulICCIAR
+ulICCEOIRConst:	.word ulICCEOIR
+ulICCPMRConst: .word ulICCPMR
+pxCurrentTCBConst: .word pxCurrentTCB
+ulCriticalNestingConst: .word ulCriticalNesting
+ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
+ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
+vTaskSwitchContextConst: .word vTaskSwitchContext
+vApplicationIRQHandlerConst: .word vApplicationIRQHandler
+ulPortInterruptNestingConst: .word ulPortInterruptNesting
+vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
+
+.end
+
+
+
+
+

portable/GCC/ARM_CA9/portmacro.h

@@ -0,0 +1,208 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+	extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+typedef uint32_t TickType_t;
+#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+not need to be guarded with a critical section. */
+#define portTICK_TYPE_IS_ATOMIC 1
+
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/* Called at the end of an ISR that can cause a context switch. */
+#define portEND_SWITCHING_ISR( xSwitchRequired )\
+{												\
+extern uint32_t ulPortYieldRequired;			\
+												\
+	if( xSwitchRequired != pdFALSE )			\
+	{											\
+		ulPortYieldRequired = pdTRUE;			\
+	}											\
+}
+
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+#define portYIELD() __asm volatile ( "SWI 0" ::: "memory" );
+
+
+/*-----------------------------------------------------------
+ * Critical section control
+ *----------------------------------------------------------*/
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern uint32_t ulPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
+extern void vPortInstallFreeRTOSVectorTable( void );
+
+/* These macros do not globally disable/enable interrupts.  They do mask off
+interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+#define portDISABLE_INTERRUPTS()	ulPortSetInterruptMask()
+#define portENABLE_INTERRUPTS()		vPortClearInterruptMask( 0 )
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask(x)
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not required for this port but included in case common demo code that uses these
+macros is used. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )	void vFunction( void *pvParameters )
+
+/* Prototype of the FreeRTOS tick handler.  This must be installed as the
+handler for whichever peripheral is used to generate the RTOS tick. */
+void FreeRTOS_Tick_Handler( void );
+
+/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are
+created without an FPU context and must call vPortTaskUsesFPU() to give
+themselves an FPU context before using any FPU instructions.  If
+configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context
+by default. */
+#if( configUSE_TASK_FPU_SUPPORT != 2 )
+	void vPortTaskUsesFPU( void );
+#else
+	/* Each task has an FPU context already, so define this function away to
+	nothing to prevent it being called accidentally. */
+	#define vPortTaskUsesFPU()
+#endif
+#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
+
+#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
+#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif /* configASSERT */
+
+#define portNOP() __asm volatile( "NOP" )
+#define portINLINE __inline
+
+#ifdef __cplusplus
+	} /* extern C */
+#endif
+
+
+/* The number of bits to shift for an interrupt priority is dependent on the
+number of bits implemented by the interrupt controller. */
+#if configUNIQUE_INTERRUPT_PRIORITIES == 16
+	#define portPRIORITY_SHIFT 4
+	#define portMAX_BINARY_POINT_VALUE	3
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 32
+	#define portPRIORITY_SHIFT 3
+	#define portMAX_BINARY_POINT_VALUE	2
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 64
+	#define portPRIORITY_SHIFT 2
+	#define portMAX_BINARY_POINT_VALUE	1
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 128
+	#define portPRIORITY_SHIFT 1
+	#define portMAX_BINARY_POINT_VALUE	0
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 256
+	#define portPRIORITY_SHIFT 0
+	#define portMAX_BINARY_POINT_VALUE	0
+#else
+	#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting.  configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
+#endif
+
+/* Interrupt controller access addresses. */
+#define portICCPMR_PRIORITY_MASK_OFFSET  						( 0x04 )
+#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET 				( 0x0C )
+#define portICCEOIR_END_OF_INTERRUPT_OFFSET 					( 0x10 )
+#define portICCBPR_BINARY_POINT_OFFSET							( 0x08 )
+#define portICCRPR_RUNNING_PRIORITY_OFFSET						( 0x14 )
+
+#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS 		( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET )
+#define portICCPMR_PRIORITY_MASK_REGISTER 					( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) )
+#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS 	( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET )
+#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS 		( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET )
+#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS 			( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET )
+#define portICCBPR_BINARY_POINT_REGISTER 					( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) )
+#define portICCRPR_RUNNING_PRIORITY_REGISTER 				( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CM0/port.c

@@ -0,0 +1,560 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM0 port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to manipulate the NVIC. */
+#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_INT_CTRL_REG				( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_SYSPRI2_REG				( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+#define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
+#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
+#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
+#define portMIN_INTERRUPT_PRIORITY		( 255UL )
+#define portNVIC_PENDSV_PRI				( portMIN_INTERRUPT_PRIORITY << 16UL )
+#define portNVIC_SYSTICK_PRI			( portMIN_INTERRUPT_PRIORITY << 24UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR			( 0x01000000 )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#ifndef portMISSED_COUNTS_FACTOR
+	#define portMISSED_COUNTS_FACTOR			( 45UL )
+#endif
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/*
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortSysTickHandler( void );
+void vPortSVCHandler( void );
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void vPortStartFirstTask( void ) __attribute__ (( naked ));
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*-----------------------------------------------------------*/
+
+/*
+* The number of SysTick increments that make up one tick period.
+*/
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	interrupt. */
+	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pxCode;	/* PC */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+	pxTopOfStack -= 8; /* R11..R4. */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0UL;
+
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		started to remove a compiler warning about the function being defined
+		but never called.  ulDummy is used purely to quieten other warnings
+		about code appearing after this function is called - making ulDummy
+		volatile makes the compiler think the function could return and
+		therefore not output an 'unreachable code' warning for code that appears
+		after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+	/* This function is no longer used, but retained for backward
+	compatibility. */
+}
+/*-----------------------------------------------------------*/
+
+void vPortStartFirstTask( void )
+{
+	/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
+	table offset register that can be used to locate the initial stack value.
+	Not all M0 parts have the application vector table at address 0. */
+	__asm volatile(
+	"	.syntax unified				\n"
+	"	ldr  r2, pxCurrentTCBConst2	\n" /* Obtain location of pxCurrentTCB. */
+	"	ldr  r3, [r2]				\n"
+	"	ldr  r0, [r3]				\n" /* The first item in pxCurrentTCB is the task top of stack. */
+	"	adds r0, #32					\n" /* Discard everything up to r0. */
+	"	msr  psp, r0					\n" /* This is now the new top of stack to use in the task. */
+	"	movs r0, #2					\n" /* Switch to the psp stack. */
+	"	msr  CONTROL, r0				\n"
+	"	isb							\n"
+	"	pop  {r0-r5}					\n" /* Pop the registers that are saved automatically. */
+	"	mov  lr, r5					\n" /* lr is now in r5. */
+	"	pop  {r3}					\n" /* Return address is now in r3. */
+	"	pop  {r2}					\n" /* Pop and discard XPSR. */
+	"	cpsie i						\n" /* The first task has its context and interrupts can be enabled. */
+	"	bx   r3						\n" /* Finally, jump to the user defined task code. */
+	"								\n"
+	"	.align 4					\n"
+	"pxCurrentTCBConst2: .word pxCurrentTCB	  "
+				  );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialise the critical nesting count ready for the first task. */
+	uxCriticalNesting = 0;
+
+	/* Start the first task. */
+	vPortStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS.  Call
+	vTaskSwitchContext() so link time optimisation does not remove the
+	symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortYield( void )
+{
+	/* Set a PendSV to request a context switch. */
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	portDISABLE_INTERRUPTS();
+	uxCriticalNesting++;
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	configASSERT( uxCriticalNesting );
+	uxCriticalNesting--;
+	if( uxCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulSetInterruptMaskFromISR( void )
+{
+	__asm volatile(
+					" mrs r0, PRIMASK	\n"
+					" cpsid i			\n"
+					" bx lr				  "
+					::: "memory"
+				  );
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMaskFromISR( __attribute__( ( unused ) ) uint32_t ulMask )
+{
+	__asm volatile(
+					" msr PRIMASK, r0	\n"
+					" bx lr				  "
+					::: "memory"
+				  );
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+	/* This is a naked function. */
+
+	__asm volatile
+	(
+	"	.syntax unified						\n"
+	"	mrs r0, psp							\n"
+	"										\n"
+	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
+	"	ldr	r2, [r3]						\n"
+	"										\n"
+	"	subs r0, r0, #32					\n" /* Make space for the remaining low registers. */
+	"	str r0, [r2]						\n" /* Save the new top of stack. */
+	"	stmia r0!, {r4-r7}					\n" /* Store the low registers that are not saved automatically. */
+	" 	mov r4, r8							\n" /* Store the high registers. */
+	" 	mov r5, r9							\n"
+	" 	mov r6, r10							\n"
+	" 	mov r7, r11							\n"
+	" 	stmia r0!, {r4-r7}					\n"
+	"										\n"
+	"	push {r3, r14}						\n"
+	"	cpsid i								\n"
+	"	bl vTaskSwitchContext				\n"
+	"	cpsie i								\n"
+	"	pop {r2, r3}						\n" /* lr goes in r3. r2 now holds tcb pointer. */
+	"										\n"
+	"	ldr r1, [r2]						\n"
+	"	ldr r0, [r1]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
+	"	adds r0, r0, #16					\n" /* Move to the high registers. */
+	"	ldmia r0!, {r4-r7}					\n" /* Pop the high registers. */
+	" 	mov r8, r4							\n"
+	" 	mov r9, r5							\n"
+	" 	mov r10, r6							\n"
+	" 	mov r11, r7							\n"
+	"										\n"
+	"	msr psp, r0							\n" /* Remember the new top of stack for the task. */
+	"										\n"
+	"	subs r0, r0, #32					\n" /* Go back for the low registers that are not automatically restored. */
+	" 	ldmia r0!, {r4-r7}					\n" /* Pop low registers.  */
+	"										\n"
+	"	bx r3								\n"
+	"										\n"
+	"	.align 4							\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB	  "
+	);
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+uint32_t ulPreviousMask;
+
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+	/* Calculate the constants required to configure the tick interrupt. */
+	#if( configUSE_TICKLESS_IDLE == 1 )
+	{
+		ulTimerCountsForOneTick = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR;
+	}
+	#endif /* configUSE_TICKLESS_IDLE */
+
+	/* Stop and reset the SysTick. */
+	portNVIC_SYSTICK_CTRL_REG = 0UL;
+	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TICKLESS_IDLE == 1 )
+
+	__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+	{
+	uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	TickType_t xModifiableIdleTime;
+
+		/* Make sure the SysTick reload value does not overflow the counter. */
+		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+		{
+			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+		}
+
+		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
+		is accounted for as best it can be, but using the tickless mode will
+		inevitably result in some tiny drift of the time maintained by the
+		kernel with respect to calendar time. */
+		portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
+		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" ::: "memory" );
+		__asm volatile( "dsb" );
+		__asm volatile( "isb" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+		else
+		{
+			/* Set the new reload value. */
+			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+			/* Clear the SysTick count flag and set the count value back to
+			zero. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
+			{
+				__asm volatile( "dsb" ::: "memory" );
+				__asm volatile( "wfi" );
+				__asm volatile( "isb" );
+			}
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+			/* Re-enable interrupts to allow the interrupt that brought the MCU
+			out of sleep mode to execute immediately.  see comments above
+			__disable_interrupt() call above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable interrupts again because the clock is about to be stopped
+			and interrupts that execute while the clock is stopped will increase
+			any slippage between the time maintained by the RTOS and calendar
+			time. */
+			__asm volatile( "cpsid i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable the SysTick clock without reading the
+			portNVIC_SYSTICK_CTRL_REG register to ensure the
+			portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
+			the time the SysTick is stopped for is accounted for as best it can
+			be, but using the tickless mode will inevitably result in some tiny
+			drift of the time maintained by the kernel with respect to calendar
+			time*/
+			portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
+
+			/* Determine if the SysTick clock has already counted to zero and
+			been set back to the current reload value (the reload back being
+			correct for the entire expected idle time) or if the SysTick is yet
+			to count to zero (in which case an interrupt other than the SysTick
+			must have brought the system out of sleep mode). */
+			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+			{
+				uint32_t ulCalculatedLoadValue;
+
+				/* The tick interrupt is already pending, and the SysTick count
+				reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+
+				/* As the pending tick will be processed as soon as this
+				function exits, the tick value maintained by the tick is stepped
+				forward by one less than the time spent waiting. */
+				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+			}
+			else
+			{
+				/* Something other than the tick interrupt ended the sleep.
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+				/* How many complete tick periods passed while the processor
+				was waiting? */
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+				/* The reload value is set to whatever fraction of a single tick
+				period remains. */
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+			}
+
+			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+			value. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+			vTaskStepTick( ulCompleteTickPeriods );
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Exit with interrpts enabled. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+	}
+
+#endif /* configUSE_TICKLESS_IDLE */

portable/GCC/ARM_CM0/portmacro.h

@@ -0,0 +1,124 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+/*-----------------------------------------------------------*/
+
+
+/* Scheduler utilities. */
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern uint32_t ulSetInterruptMaskFromISR( void ) __attribute__((naked));
+extern void vClearInterruptMaskFromISR( uint32_t ulMask )  __attribute__((naked));
+
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulSetInterruptMaskFromISR()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vClearInterruptMaskFromISR( x )
+#define portDISABLE_INTERRUPTS()				__asm volatile 	( " cpsid i " ::: "memory" )
+#define portENABLE_INTERRUPTS()					__asm volatile 	( " cpsie i " ::: "memory" )
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#define portNOP()
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CM23/non_secure/port.c

@@ -0,0 +1,933 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers. That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/* Portasm includes. */
+#include "portasm.h"
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/* Secure components includes. */
+	#include "secure_context.h"
+	#include "secure_init.h"
+#endif /* configENABLE_TRUSTZONE */
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/**
+ * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only
+ * i.e. the processor boots as secure and never jumps to the non-secure side.
+ * The Trust Zone support in the port must be disabled in order to run FreeRTOS
+ * on the secure side. The following are the valid configuration seetings:
+ *
+ * 1. Run FreeRTOS on the Secure Side:
+ *		configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0
+ *
+ * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1
+ *
+ * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0
+ */
+#if( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) )
+	#error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side.
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the NVIC.
+ */
+#define portNVIC_SYSTICK_CTRL				( ( volatile uint32_t * ) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD				( ( volatile uint32_t * ) 0xe000e014 )
+#define portNVIC_SYSTICK_CURRENT_VALUE		( ( volatile uint32_t * ) 0xe000e018 )
+#define portNVIC_INT_CTRL					( ( volatile uint32_t * ) 0xe000ed04 )
+#define portNVIC_SYSPRI2					( ( volatile uint32_t * ) 0xe000ed20 )
+#define portNVIC_SYSTICK_CLK				( 0x00000004 )
+#define portNVIC_SYSTICK_INT				( 0x00000002 )
+#define portNVIC_SYSTICK_ENABLE				( 0x00000001 )
+#define portNVIC_PENDSVSET					( 0x10000000 )
+#define portMIN_INTERRUPT_PRIORITY			( 255UL )
+#define portNVIC_PENDSV_PRI					( portMIN_INTERRUPT_PRIORITY << 16UL )
+#define portNVIC_SYSTICK_PRI				( portMIN_INTERRUPT_PRIORITY << 24UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the SCB.
+ */
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG	( * ( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_MEM_FAULT_ENABLE			( 1UL << 16UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the FPU.
+ */
+#define portCPACR							( ( volatile uint32_t * ) 0xe000ed88 )	/* Coprocessor Access Control Register. */
+#define portCPACR_CP10_VALUE				( 3UL )
+#define portCPACR_CP11_VALUE				portCPACR_CP10_VALUE
+#define portCPACR_CP10_POS					( 20UL )
+#define portCPACR_CP11_POS					( 22UL )
+
+#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 )	/* Floating Point Context Control Register. */
+#define portFPCCR_ASPEN_POS					( 31UL )
+#define portFPCCR_ASPEN_MASK				( 1UL << portFPCCR_ASPEN_POS )
+#define portFPCCR_LSPEN_POS					( 30UL )
+#define portFPCCR_LSPEN_MASK				( 1UL << portFPCCR_LSPEN_POS )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the MPU.
+ */
+#define portMPU_TYPE_REG					( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
+#define portMPU_CTRL_REG					( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
+#define portMPU_RNR_REG						( * ( ( volatile uint32_t * ) 0xe000ed98 ) )
+
+#define portMPU_RBAR_REG					( * ( ( volatile uint32_t * ) 0xe000ed9c ) )
+#define portMPU_RLAR_REG					( * ( ( volatile uint32_t * ) 0xe000eda0 ) )
+
+#define portMPU_RBAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda4 ) )
+#define portMPU_RLAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda8 ) )
+
+#define portMPU_RBAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edac ) )
+#define portMPU_RLAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edb0 ) )
+
+#define portMPU_RBAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb4 ) )
+#define portMPU_RLAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb8 ) )
+
+#define portMPU_MAIR0_REG					( * ( ( volatile uint32_t * ) 0xe000edc0 ) )
+#define portMPU_MAIR1_REG					( * ( ( volatile uint32_t * ) 0xe000edc4 ) )
+
+#define portMPU_RBAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+#define portMPU_RLAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+
+#define portMPU_MAIR_ATTR0_POS				( 0UL )
+#define portMPU_MAIR_ATTR0_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR1_POS				( 8UL )
+#define portMPU_MAIR_ATTR1_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR2_POS				( 16UL )
+#define portMPU_MAIR_ATTR2_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR3_POS				( 24UL )
+#define portMPU_MAIR_ATTR3_MASK				( 0xff000000 )
+
+#define portMPU_MAIR_ATTR4_POS				( 0UL )
+#define portMPU_MAIR_ATTR4_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR5_POS				( 8UL )
+#define portMPU_MAIR_ATTR5_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR6_POS				( 16UL )
+#define portMPU_MAIR_ATTR6_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR7_POS				( 24UL )
+#define portMPU_MAIR_ATTR7_MASK				( 0xff000000 )
+
+#define portMPU_RLAR_ATTR_INDEX0			( 0UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX1			( 1UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX2			( 2UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX3			( 3UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX4			( 4UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX5			( 5UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX6			( 6UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX7			( 7UL << 1UL )
+
+#define portMPU_RLAR_REGION_ENABLE			( 1UL )
+
+/* Enable privileged access to unmapped region. */
+#define portMPU_PRIV_BACKGROUND_ENABLE		( 1UL << 2UL )
+
+/* Enable MPU. */
+#define portMPU_ENABLE						( 1UL << 0UL )
+
+/* Expected value of the portMPU_TYPE register. */
+#define portEXPECTED_MPU_TYPE_VALUE			( 8UL << 8UL ) /* 8 regions, unified. */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to set up the initial stack.
+ */
+#define portINITIAL_XPSR					( 0x01000000 )
+
+#if( configRUN_FREERTOS_SECURE_ONLY == 1 )
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         FD
+	 * 1111 1111  1111 1111  1111 1111  1111 1101
+	 *
+	 * Bit[6] - 1 --> The exception was taken from the Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 1 --> The exception was taken to the Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xfffffffd )
+#else
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         BC
+	 * 1111 1111  1111 1111  1111 1111  1011 1100
+	 *
+	 * Bit[6] - 0 --> The exception was taken from the Non-Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 0 --> The exception was taken to the Non-Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xffffffbc )
+#endif /* configRUN_FREERTOS_SECURE_ONLY */
+
+/**
+ * @brief CONTROL register privileged bit mask.
+ *
+ * Bit[0] in CONTROL register tells the privilege:
+ *  Bit[0] = 0 ==> The task is privileged.
+ *  Bit[0] = 1 ==> The task is not privileged.
+ */
+#define portCONTROL_PRIVILEGED_MASK			( 1UL << 0UL )
+
+/**
+ * @brief Initial CONTROL register values.
+ */
+#define portINITIAL_CONTROL_UNPRIVILEGED	( 0x3 )
+#define portINITIAL_CONTROL_PRIVILEGED		( 0x2 )
+
+/**
+ * @brief Let the user override the pre-loading of the initial LR with the
+ * address of prvTaskExitError() in case it messes up unwinding of the stack
+ * in the debugger.
+ */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS			configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS			prvTaskExitError
+#endif
+
+/**
+ * @brief If portPRELOAD_REGISTERS then registers will be given an initial value
+ * when a task is created. This helps in debugging at the cost of code size.
+ */
+#define portPRELOAD_REGISTERS				1
+
+/**
+ * @brief A task is created without a secure context, and must call
+ * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes
+ * any secure calls.
+ */
+#define portNO_SECURE_CONTEXT				0
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Used to catch tasks that attempt to return from their implementing
+ * function.
+ */
+static void prvTaskExitError( void );
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Setup the Memory Protection Unit (MPU).
+	 */
+	static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_MPU */
+
+#if( configENABLE_FPU == 1 )
+	/**
+	 * @brief Setup the Floating Point Unit (FPU).
+	 */
+	static void prvSetupFPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_FPU */
+
+/**
+ * @brief Setup the timer to generate the tick interrupts.
+ *
+ * The implementation in this file is weak to allow application writers to
+ * change the timer used to generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether the current execution context is interrupt.
+ *
+ * @return pdTRUE if the current execution context is interrupt, pdFALSE
+ * otherwise.
+ */
+BaseType_t xPortIsInsideInterrupt( void );
+
+/**
+ * @brief Yield the processor.
+ */
+void vPortYield( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enter critical section.
+ */
+void vPortEnterCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Exit from critical section.
+ */
+void vPortExitCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SysTick handler.
+ */
+void SysTick_Handler( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief C part of SVC handler.
+ */
+portDONT_DISCARD void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) PRIVILEGED_FUNCTION;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Each task maintains its own interrupt status in the critical nesting
+ * variable.
+ */
+static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Saved as part of the task context to indicate which context the
+	 * task is using on the secure side.
+	 */
+	portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT;
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Stop and reset the SysTick. */
+	*( portNVIC_SYSTICK_CTRL ) = 0UL;
+	*( portNVIC_SYSTICK_CURRENT_VALUE ) = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	*( portNVIC_SYSTICK_LOAD ) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	*( portNVIC_SYSTICK_CTRL ) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0UL;
+
+	/* A function that implements a task must not exit or attempt to return to
+	 * its caller as there is nothing to return to. If a task wants to exit it
+	 * should instead call vTaskDelete( NULL ). Artificially force an assert()
+	 * to be triggered if configASSERT() is defined, then stop here so
+	 * application writers can catch the error. */
+	configASSERT( ulCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		 * started to remove a compiler warning about the function being
+		 * defined but never called.  ulDummy is used purely to quieten other
+		 * warnings about code appearing after this function is called - making
+		 * ulDummy volatile makes the compiler think the function could return
+		 * and therefore not output an 'unreachable code' warning for code that
+		 * appears after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __privileged_functions_start__;
+		extern uint32_t * __privileged_functions_end__;
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+		extern uint32_t * __unprivileged_flash_start__;
+		extern uint32_t * __unprivileged_flash_end__;
+		extern uint32_t * __privileged_sram_start__;
+		extern uint32_t * __privileged_sram_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __privileged_functions_start__[];
+		extern uint32_t __privileged_functions_end__[];
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+		extern uint32_t __unprivileged_flash_start__[];
+		extern uint32_t __unprivileged_flash_end__[];
+		extern uint32_t __privileged_sram_start__[];
+		extern uint32_t __privileged_sram_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+
+		/* Check that the MPU is present. */
+		if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
+		{
+			/* MAIR0 - Index 0. */
+			portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+			/* MAIR0 - Index 1. */
+			portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+			/* Setup privileged flash as Read Only so that privileged tasks can
+			 * read it but not modify. */
+			portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged flash as Read Only by both privileged and
+			 * unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged syscalls flash as Read Only by both privileged
+			 * and unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup RAM containing kernel data for privileged access only. */
+			portMPU_RNR_REG = portPRIVILEGED_RAM_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+								( portMPU_REGION_EXECUTE_NEVER );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Enable mem fault. */
+			portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE;
+
+			/* Enable MPU with privileged background access i.e. unmapped
+			 * regions have privileged access. */
+			portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE | portMPU_ENABLE );
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_FPU == 1 )
+	static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			/* Enable non-secure access to the FPU. */
+			SecureInit_EnableNSFPUAccess();
+		}
+		#endif /* configENABLE_TRUSTZONE */
+
+		/* CP10 = 11 ==> Full access to FPU i.e. both privileged and
+		 * unprivileged code should be able to access FPU. CP11 should be
+		 * programmed to the same value as CP10. */
+		*( portCPACR ) |=	(	( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) |
+								( portCPACR_CP11_VALUE << portCPACR_CP11_POS )
+							);
+
+		/* ASPEN = 1 ==> Hardware should automatically preserve floating point
+		 * context on exception entry and restore on exception return.
+		 * LSPEN = 1 ==> Enable lazy context save of FP state. */
+		*( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK );
+	}
+#endif /* configENABLE_FPU */
+/*-----------------------------------------------------------*/
+
+void vPortYield( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Set a PendSV to request a context switch. */
+	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	portDISABLE_INTERRUPTS();
+	ulCriticalNesting++;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	configASSERT( ulCriticalNesting );
+	ulCriticalNesting--;
+
+	if( ulCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
+{
+uint32_t ulPreviousMask;
+
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */
+{
+#if( configENABLE_MPU == 1 )
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+#endif /* configENABLE_MPU */
+
+uint32_t ulPC;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	uint32_t ulR0;
+	#if( configENABLE_MPU == 1 )
+		uint32_t ulControl, ulIsTaskPrivileged;
+	#endif /* configENABLE_MPU */
+#endif /* configENABLE_TRUSTZONE */
+uint8_t ucSVCNumber;
+
+	/* Register are stored on the stack in the following order - R0, R1, R2, R3,
+	 * R12, LR, PC, xPSR. */
+	ulPC = pulCallerStackAddress[ 6 ];
+	ucSVCNumber = ( ( uint8_t *) ulPC )[ -2 ];
+
+	switch( ucSVCNumber )
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+			case portSVC_ALLOCATE_SECURE_CONTEXT:
+			{
+				/* R0 contains the stack size passed as parameter to the
+				 * vPortAllocateSecureContext function. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				#if( configENABLE_MPU == 1 )
+				{
+					/* Read the CONTROL register value. */
+					__asm volatile ( "mrs %0, control"  : "=r" ( ulControl ) );
+
+					/* The task that raised the SVC is privileged if Bit[0]
+					 * in the CONTROL register is 0. */
+					ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
+
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged );
+				}
+				#else
+				{
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0 );
+				}
+				#endif /* configENABLE_MPU */
+
+				configASSERT( xSecureContext != NULL );
+				SecureContext_LoadContext( xSecureContext );
+			}
+			break;
+
+			case portSVC_FREE_SECURE_CONTEXT:
+			{
+				/* R0 contains the secure context handle to be freed. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				/* Free the secure context. */
+				SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 );
+			}
+			break;
+		#endif /* configENABLE_TRUSTZONE */
+
+		case portSVC_START_SCHEDULER:
+		{
+			#if( configENABLE_TRUSTZONE == 1 )
+			{
+				/* De-prioritize the non-secure exceptions so that the
+				 * non-secure pendSV runs at the lowest priority. */
+				SecureInit_DePrioritizeNSExceptions();
+
+				/* Initialize the secure context management system. */
+				SecureContext_Init();
+			}
+			#endif /* configENABLE_TRUSTZONE */
+
+			#if( configENABLE_FPU == 1 )
+			{
+				/* Setup the Floating Point Unit (FPU). */
+				prvSetupFPU();
+			}
+			#endif /* configENABLE_FPU */
+
+			/* Setup the context of the first task so that the first task starts
+			 * executing. */
+			vRestoreContextOfFirstTask();
+		}
+		break;
+
+		#if( configENABLE_MPU == 1 )
+			case portSVC_RAISE_PRIVILEGE:
+			{
+				/* Only raise the privilege, if the svc was raised from any of
+				 * the system calls. */
+				if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&
+					ulPC <= ( uint32_t ) __syscalls_flash_end__ )
+				{
+					vRaisePrivilege();
+				}
+			}
+			break;
+		#endif /* configENABLE_MPU */
+
+		default:
+		{
+			/* Incorrect SVC call. */
+			configASSERT( pdFALSE );
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */
+#else
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) /* PRIVILEGED_FUNCTION */
+#endif /* configENABLE_MPU */
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	 * interrupt. */
+	#if( portPRELOAD_REGISTERS == 0 )
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack -= 5;											/* R12, R3, R2 and R1. */
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack -= 9;											/* R11..R4, EXC_RETURN. */
+		*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#else /* portPRELOAD_REGISTERS */
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x12121212UL;				/* R12 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x03030303UL;				/* R3 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x02020202UL;				/* R2 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x01010101UL;				/* R1 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x11111111UL;				/* R11 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x10101010UL;				/* R10 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x09090909UL;				/* R09 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x08080808UL;				/* R08 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x07070707UL;				/* R07 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x06060606UL;				/* R06 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x05050505UL;				/* R05 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x04040404UL;				/* R04 */
+		pxTopOfStack--;
+		*pxTopOfStack = portINITIAL_EXC_RETURN;						/* EXC_RETURN */
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#endif /* portPRELOAD_REGISTERS */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+	*( portNVIC_SYSPRI2 ) |= portNVIC_PENDSV_PRI;
+	*( portNVIC_SYSPRI2 ) |= portNVIC_SYSTICK_PRI;
+
+	#if( configENABLE_MPU == 1 )
+	{
+		/* Setup the Memory Protection Unit (MPU). */
+		prvSetupMPU();
+	}
+	#endif /* configENABLE_MPU */
+
+	/* Start the timer that generates the tick ISR. Interrupts are disabled
+	 * here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialize the critical nesting count ready for the first task. */
+	ulCriticalNesting = 0;
+
+	/* Start the first task. */
+	vStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing. Call the task
+	 * exit error function to prevent compiler warnings about a static function
+	 * not being called in the case that the application writer overrides this
+	 * functionality by defining configTASK_RETURN_ADDRESS. Call
+	 * vTaskSwitchContext() so link time optimization does not remove the
+	 * symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Not implemented in ports where there is nothing to return to.
+	 * Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+	{
+	uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber;
+	int32_t lIndex = 0;
+
+		/* Setup MAIR0. */
+		xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+		xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+		/* This function is called automatically when the task is created - in
+		 * which case the stack region parameters will be valid.  At all other
+		 * times the stack parameters will not be valid and it is assumed that
+		 * the stack region has already been configured. */
+		if( ulStackDepth > 0 )
+		{
+			/* Define the region that allows access to the stack. */
+			ulRegionStartAddress = ( ( uint32_t ) pxBottomOfStack ) & portMPU_RBAR_ADDRESS_MASK;
+			ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1;
+			ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRBAR =	( ulRegionStartAddress ) |
+															( portMPU_REGION_NON_SHAREABLE ) |
+															( portMPU_REGION_READ_WRITE ) |
+															( portMPU_REGION_EXECUTE_NEVER );
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRLAR =	( ulRegionEndAddress ) |
+															( portMPU_RLAR_ATTR_INDEX0 ) |
+															( portMPU_RLAR_REGION_ENABLE );
+		}
+
+		/* User supplied configurable regions. */
+		for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ )
+		{
+			/* If xRegions is NULL i.e. the task has not specified any MPU
+			 * region, the else part ensures that all the configurable MPU
+			 * regions are invalidated. */
+			if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) )
+			{
+				/* Translate the generic region definition contained in xRegions
+				 * into the ARMv8 specific MPU settings that are then stored in
+				 * xMPUSettings. */
+				ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK;
+				ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1;
+				ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+				/* Start address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR =	( ulRegionStartAddress ) |
+																			( portMPU_REGION_NON_SHAREABLE );
+
+				/* RO/RW. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY );
+				}
+				else
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE );
+				}
+
+				/* XN. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER );
+				}
+
+				/* End Address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR =	( ulRegionEndAddress ) |
+																			( portMPU_RLAR_REGION_ENABLE );
+
+				/* Normal memory/ Device memory. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 )
+				{
+					/* Attr1 in MAIR0 is configured as device memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1;
+				}
+				else
+				{
+					/* Attr1 in MAIR0 is configured as normal memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0;
+				}
+			}
+			else
+			{
+				/* Invalidate the region. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL;
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL;
+			}
+
+			lIndex++;
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. Interrupt Program
+	 * Status Register (IPSR) holds the exception number of the currently-executing
+	 * exception or zero for Thread mode.*/
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/non_secure/portasm.c

@@ -0,0 +1,453 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION
+ * is defined correctly and privileged functions are placed in correct sections. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Portasm includes. */
+#include "portasm.h"
+
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the
+ * header files. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#if( configENABLE_FPU == 1 )
+	#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
+#endif
+
+void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"													\n"
+	"	ldr  r2, pxCurrentTCBConst2						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr  r3, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr  r0, [r3]									\n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r5, #1										\n" /* r5 = 1. */
+	"	bics r4, r5										\n" /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */
+	"	ldr  r4, [r3]									\n" /* r4 = *r3 i.e. r4 = MAIR0. */
+	"	ldr  r2, xMAIR0Const2							\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str  r4, [r2]									\n" /* Program MAIR0. */
+	"	ldr  r2, xRNRConst2								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
+	"	movs r5, #4										\n" /* r5 = 4. */
+	"	str  r5, [r2]									\n" /* Program RNR = 4. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read first set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst2							\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write first set of RBAR/RLAR registers. */
+	"	movs r5, #5										\n" /* r5 = 5. */
+	"	str  r5, [r2]									\n" /* Program RNR = 5. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read second set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst2							\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write second set of RBAR/RLAR registers. */
+	"	movs r5, #6										\n" /* r5 = 6. */
+	"	str  r5, [r2]									\n" /* Program RNR = 6. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read third set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst2							\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write third set of RBAR/RLAR registers. */
+	"	movs r5, #7										\n" /* r5 = 7. */
+	"	str  r5, [r2]									\n" /* Program RNR = 7. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read fourth set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst2							\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write fourth set of RBAR/RLAR registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r5, #1										\n" /* r5 = 1. */
+	"	orrs r4, r5										\n" /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldm  r0!, {r1-r4}								\n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */
+	"	ldr  r5, xSecureContextConst2					\n"
+	"	str  r1, [r5]									\n" /* Set xSecureContext to this task's value for the same. */
+	"	msr  psplim, r2									\n" /* Set this task's PSPLIM value. */
+	"	msr  control, r3								\n" /* Set this task's CONTROL value. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r4											\n" /* Finally, branch to EXC_RETURN. */
+	#else /* configENABLE_MPU */
+	"	ldm  r0!, {r1-r3}								\n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */
+	"	ldr  r4, xSecureContextConst2					\n"
+	"	str  r1, [r4]									\n" /* Set xSecureContext to this task's value for the same. */
+	"	msr  psplim, r2									\n" /* Set this task's PSPLIM value. */
+	"	movs r1, #2										\n" /* r1 = 2. */
+	"	msr  CONTROL, r1								\n" /* Switch to use PSP in the thread mode. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r3											\n" /* Finally, branch to EXC_RETURN. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+	"xSecureContextConst2: .word xSecureContext			\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst2: .word 0xe000ed94					\n"
+	"xMAIR0Const2: .word 0xe000edc0						\n"
+	"xRNRConst2: .word 0xe000ed98						\n"
+	"xRBARConst2: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	);
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	movs r1, #1										\n" /* r1 = 1. */
+	"	tst r0, r1										\n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */
+	"	beq running_privileged							\n" /* If the result of previous AND operation was 0, branch. */
+	"	movs r0, #0										\n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+	"	bx lr											\n" /* Return. */
+	" running_privileged:								\n"
+	"	movs r0, #1										\n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+	"	bx lr											\n" /* Return. */
+	"													\n"
+	"	.align 4										\n"
+	::: "r0", "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	 __asm volatile
+	(
+	"	mrs r0, control									\n" /* Read the CONTROL register. */
+	"	movs r1, #1										\n" /* r1 = 1. */
+	"	bics r0, r1										\n" /* Clear the bit 0. */
+	"	msr control, r0									\n" /* Write back the new CONTROL value. */
+	"	bx lr											\n" /* Return to the caller. */
+	::: "r0", "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	movs r1, #1										\n" /* r1 = 1. */
+	"	orrs r0, r1										\n" /* r0 = r0 | r1. */
+	"	msr control, r0									\n" /* CONTROL = r0. */
+	"	bx lr											\n" /* Return to the caller. */
+	:::"r0", "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	ldr r0, xVTORConst								\n" /* Use the NVIC offset register to locate the stack. */
+	"	ldr r0, [r0]									\n" /* Read the VTOR register which gives the address of vector table. */
+	"	ldr r0, [r0]									\n" /* The first entry in vector table is stack pointer. */
+	"	msr msp, r0										\n" /* Set the MSP back to the start of the stack. */
+	"	cpsie i											\n" /* Globally enable interrupts. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	svc %0											\n" /* System call to start the first task. */
+	"	nop												\n"
+	"													\n"
+	"   .align 4										\n"
+	"xVTORConst: .word 0xe000ed08						\n"
+	:: "i" ( portSVC_START_SCHEDULER ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	mrs r0, PRIMASK									\n"
+	"	cpsid i											\n"
+	"	bx lr											\n"
+	::: "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	msr PRIMASK, r0									\n"
+	"	bx lr											\n"
+	::: "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"	.extern SecureContext_SaveContext				\n"
+	"	.extern SecureContext_LoadContext				\n"
+	"													\n"
+	"	mrs r1, psp										\n" /* Read PSP in r1. */
+	"	ldr r2, xSecureContextConst						\n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */
+	"	ldr r0, [r2]									\n" /* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */
+	"													\n"
+	"	cbz r0, save_ns_context							\n" /* No secure context to save. */
+	"	push {r0-r2, r14}								\n"
+	"	bl SecureContext_SaveContext					\n"
+	"	pop {r0-r3}										\n" /* LR is now in r3. */
+	"	mov lr, r3										\n" /* LR = r3. */
+	"	lsls r2, r3, #25								\n" /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */
+	"	bpl save_ns_context								\n" /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */
+	"	ldr r3, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r2, [r3]									\n" /* Read pxCurrentTCB. */
+	#if( configENABLE_MPU == 1 )
+	"	subs r1, r1, #16								\n" /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mrs r3, control									\n" /* r3 = CONTROL. */
+	"	mov r4, lr										\n" /* r4 = LR/EXC_RETURN. */
+	"	stmia r1!, {r0, r2-r4}							\n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
+	#else /* configENABLE_MPU */
+	"	subs r1, r1, #12								\n" /* Make space for xSecureContext, PSPLIM and LR on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmia r1!, {r0, r2-r3}							\n" /* Store xSecureContext, PSPLIM and LR on the stack. */
+	#endif /* configENABLE_MPU */
+	"	b select_next_task								\n"
+	"													\n"
+	" save_ns_context:									\n"
+	"	ldr r3, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r2, [r3]									\n" /* Read pxCurrentTCB. */
+	#if( configENABLE_MPU == 1 )
+	"	subs r1, r1, #48								\n" /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	adds r1, r1, #16								\n" /* r1 = r1 + 16. */
+	"	stmia r1!, {r4-r7}								\n" /* Store the low registers that are not saved automatically. */
+	"	mov r4, r8										\n" /* r4 = r8. */
+	"	mov r5, r9										\n" /* r5 = r9. */
+	"	mov r6, r10										\n" /* r6 = r10. */
+	"	mov r7, r11										\n" /* r7 = r11. */
+	"	stmia r1!, {r4-r7}								\n" /* Store the high registers that are not saved automatically. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mrs r3, control									\n" /* r3 = CONTROL. */
+	"	mov r4, lr										\n" /* r4 = LR/EXC_RETURN. */
+	"	subs r1, r1, #48								\n" /* r1 = r1 - 48. */
+	"	stmia r1!, {r0, r2-r4}							\n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
+	#else /* configENABLE_MPU */
+	"	subs r1, r1, #44								\n" /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmia r1!, {r0, r2-r7}							\n" /* Store xSecureContext, PSPLIM, LR and the low registers that are not saved automatically. */
+	"	mov r4, r8										\n" /* r4 = r8. */
+	"	mov r5, r9										\n" /* r5 = r9. */
+	"	mov r6, r10										\n" /* r6 = r10. */
+	"	mov r7, r11										\n" /* r7 = r11. */
+	"	stmia r1!, {r4-r7}								\n" /* Store the high registers that are not saved automatically. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	" select_next_task:									\n"
+	"	cpsid i											\n"
+	"	bl vTaskSwitchContext							\n"
+	"	cpsie i											\n"
+	"													\n"
+	"	ldr r2, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r3, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr r1, [r3]									\n" /* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r5, #1										\n" /* r5 = 1. */
+	"	bics r4, r5										\n" /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */
+	"	ldr r4, [r3]									\n" /* r4 = *r3 i.e. r4 = MAIR0. */
+	"	ldr r2, xMAIR0Const								\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str r4, [r2]									\n" /* Program MAIR0. */
+	"	ldr r2, xRNRConst								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
+	"	movs r5, #4										\n" /* r5 = 4. */
+	"	str  r5, [r2]									\n" /* Program RNR = 4. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read first set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst								\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write first set of RBAR/RLAR registers. */
+	"	movs r5, #5										\n" /* r5 = 5. */
+	"	str  r5, [r2]									\n" /* Program RNR = 5. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read second set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst								\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write second set of RBAR/RLAR registers. */
+	"	movs r5, #6										\n" /* r5 = 6. */
+	"	str  r5, [r2]									\n" /* Program RNR = 6. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read third set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst								\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write third set of RBAR/RLAR registers. */
+	"	movs r5, #7										\n" /* r5 = 7. */
+	"	str  r5, [r2]									\n" /* Program RNR = 7. */
+	"	ldmia r3!, {r6,r7}								\n" /* Read fourth set of RBAR/RLAR from TCB. */
+	"	ldr  r4, xRBARConst								\n" /* r4 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r4!, {r6,r7}								\n" /* Write fourth set of RBAR/RLAR registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r5, #1										\n" /* r5 = 1. */
+	"	orrs r4, r5										\n" /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldmia r1!, {r0, r2-r4}							\n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */
+	"	msr psplim, r2									\n" /* Restore the PSPLIM register value for the task. */
+	"	msr control, r3									\n" /* Restore the CONTROL register value for the task. */
+	"	mov lr, r4										\n" /* LR = r4. */
+	"	ldr r2, xSecureContextConst						\n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */
+	"	str r0, [r2]									\n" /* Restore the task's xSecureContext. */
+	"	cbz r0, restore_ns_context						\n" /* If there is no secure context for the task, restore the non-secure context. */
+	"	push {r1,r4}									\n"
+	"	bl SecureContext_LoadContext					\n" /* Restore the secure context. */
+	"	pop {r1,r4}										\n"
+	"	mov lr, r4										\n" /* LR = r4. */
+	"	lsls r2, r4, #25								\n" /* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */
+	"	bpl restore_ns_context							\n" /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */
+	"	msr psp, r1										\n" /* Remember the new top of stack for the task. */
+	"	bx lr											\n"
+	#else /* configENABLE_MPU */
+	"	ldmia r1!, {r0, r2-r3}							\n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */
+	"	msr psplim, r2									\n" /* Restore the PSPLIM register value for the task. */
+	"	mov lr, r3										\n" /* LR = r3. */
+	"	ldr r2, xSecureContextConst						\n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */
+	"	str r0, [r2]									\n" /* Restore the task's xSecureContext. */
+	"	cbz r0, restore_ns_context						\n" /* If there is no secure context for the task, restore the non-secure context. */
+	"	push {r1,r3}									\n"
+	"	bl SecureContext_LoadContext					\n" /* Restore the secure context. */
+	"	pop {r1,r3}										\n"
+	"	mov lr, r3										\n" /* LR = r3. */
+	"	lsls r2, r3, #25								\n" /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */
+	"	bpl restore_ns_context							\n" /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */
+	"	msr psp, r1										\n" /* Remember the new top of stack for the task. */
+	"	bx lr											\n"
+	#endif /* configENABLE_MPU */
+	"													\n"
+	" restore_ns_context:								\n"
+	"	adds r1, r1, #16								\n" /* Move to the high registers. */
+	"	ldmia r1!, {r4-r7}								\n" /* Restore the high registers that are not automatically restored. */
+	"	mov r8, r4										\n" /* r8 = r4. */
+	"	mov r9, r5										\n" /* r9 = r5. */
+	"	mov r10, r6										\n" /* r10 = r6. */
+	"	mov r11, r7										\n" /* r11 = r7. */
+	"	msr psp, r1										\n" /* Remember the new top of stack for the task. */
+	"	subs r1, r1, #32								\n" /* Go back to the low registers. */
+	"	ldmia r1!, {r4-r7}								\n" /* Restore the low registers that are not automatically restored. */
+	"	bx lr											\n"
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB				\n"
+	"xSecureContextConst: .word xSecureContext			\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst: .word 0xe000ed94					\n"
+	"xMAIR0Const: .word 0xe000edc0						\n"
+	"xRNRConst: .word 0xe000ed98						\n"
+	"xRBARConst: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	);
+}
+/*-----------------------------------------------------------*/
+
+void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	movs r0, #4										\n"
+	"	mov r1, lr										\n"
+	"	tst r0, r1										\n"
+	"	beq stacking_used_msp							\n"
+	"	mrs r0, psp										\n"
+	"	ldr r2, svchandler_address_const				\n"
+	"	bx r2											\n"
+	" stacking_used_msp:								\n"
+	"	mrs r0, msp										\n"
+	"	ldr r2, svchandler_address_const				\n"
+	"	bx r2											\n"
+	"													\n"
+	"	.align 4										\n"
+	"svchandler_address_const: .word vPortSVCHandler_C	\n"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	svc %0											\n" /* Secure context is allocated in the supervisor call. */
+	"	bx lr											\n" /* Return. */
+	:: "i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	ldr r1, [r0]									\n" /* The first item in the TCB is the top of the stack. */
+	"	ldr r0, [r1]									\n" /* The first item on the stack is the task's xSecureContext. */
+	"	cmp r0, #0										\n" /* Raise svc if task's xSecureContext is not NULL. */
+	"	beq free_secure_context							\n"
+	"	bx lr											\n" /* There is no secure context (xSecureContext is NULL). */
+	" free_secure_context:								\n"
+	"	svc %0											\n" /* Secure context is freed in the supervisor call. */
+	"	bx lr											\n" /* Return. */
+	:: "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/non_secure/portasm.h

@@ -0,0 +1,113 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __PORT_ASM_H__
+#define __PORT_ASM_H__
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/**
+ * @brief Restore the context of the first task so that the first task starts
+ * executing.
+ */
+void vRestoreContextOfFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Raises the privilege level by clearing the bit 0 of the CONTROL
+ * register.
+ *
+ * @note This is a privileged function and should only be called from the kenrel
+ * code.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vResetPrivilege( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Starts the first task.
+ */
+void vStartFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Disables interrupts.
+ */
+uint32_t ulSetInterruptMask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enables interrupts.
+ */
+void vClearInterruptMask( uint32_t ulMask ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief PendSV Exception handler.
+ */
+void PendSV_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SVC Handler.
+ */
+void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Allocate a Secure context for the calling task.
+ *
+ * @param[in] ulSecureStackSize The size of the stack to be allocated on the
+ * secure side for the calling task.
+ */
+void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__ (( naked ));
+
+/**
+ * @brief Free the task's secure context.
+ *
+ * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task.
+ */
+void vPortFreeSecureContext( uint32_t *pulTCB ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+#endif /* __PORT_ASM_H__ */

portable/GCC/ARM_CM23/non_secure/portmacro.h

@@ -0,0 +1,301 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*------------------------------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *------------------------------------------------------------------------------
+ */
+
+#ifndef configENABLE_FPU
+	#error configENABLE_FPU must be defined in FreeRTOSConfig.h.  Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU.
+#endif /* configENABLE_FPU */
+
+#ifndef configENABLE_MPU
+	#error configENABLE_MPU must be defined in FreeRTOSConfig.h.  Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU.
+#endif /* configENABLE_MPU */
+
+#ifndef configENABLE_TRUSTZONE
+	#error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h.  Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone.
+#endif /* configENABLE_TRUSTZONE */
+
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Type definitions.
+ */
+#define portCHAR											char
+#define portFLOAT											float
+#define portDOUBLE											double
+#define portLONG											long
+#define portSHORT											short
+#define portSTACK_TYPE										uint32_t
+#define portBASE_TYPE										long
+
+typedef portSTACK_TYPE										StackType_t;
+typedef long												BaseType_t;
+typedef unsigned long										UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	 * not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC							1
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * Architecture specifics.
+ */
+#define portARCH_NAME										"Cortex-M23"
+#define portSTACK_GROWTH									( -1 )
+#define portTICK_PERIOD_MS									( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT									8
+#define portNOP()
+#define portINLINE											__inline
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE								inline __attribute__(( always_inline ))
+#endif
+#define portHAS_STACK_OVERFLOW_CHECKING						1
+#define portDONT_DISCARD									__attribute__(( used ))
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Extern declarations.
+ */
+extern BaseType_t xPortIsInsideInterrupt( void );
+
+extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
+
+extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
+extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
+
+extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
+	extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
+#endif /* configENABLE_TRUSTZONE */
+
+#if( configENABLE_MPU == 1 )
+	extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
+	extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief MPU specific constants.
+ */
+#if( configENABLE_MPU == 1 )
+	#define portUSING_MPU_WRAPPERS							1
+	#define portPRIVILEGE_BIT								( 0x80000000UL )
+#else
+	#define portPRIVILEGE_BIT								( 0x0UL )
+#endif /* configENABLE_MPU */
+
+
+/* MPU regions. */
+#define portPRIVILEGED_FLASH_REGION							( 0UL )
+#define portUNPRIVILEGED_FLASH_REGION						( 1UL )
+#define portUNPRIVILEGED_SYSCALLS_REGION					( 2UL )
+#define portPRIVILEGED_RAM_REGION							( 3UL )
+#define portSTACK_REGION									( 4UL )
+#define portFIRST_CONFIGURABLE_REGION						( 5UL )
+#define portLAST_CONFIGURABLE_REGION						( 7UL )
+#define portNUM_CONFIGURABLE_REGIONS						( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
+#define portTOTAL_NUM_REGIONS								( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
+
+/* Device memory attributes used in MPU_MAIR registers.
+ *
+ * 8-bit values encoded as follows:
+ *  Bit[7:4] - 0000 - Device Memory
+ *  Bit[3:2] - 00 --> Device-nGnRnE
+ *				01 --> Device-nGnRE
+ *				10 --> Device-nGRE
+ *				11 --> Device-GRE
+ *  Bit[1:0] - 00, Reserved.
+ */
+#define portMPU_DEVICE_MEMORY_nGnRnE						( 0x00 ) /* 0000 0000 */
+#define portMPU_DEVICE_MEMORY_nGnRE							( 0x04 ) /* 0000 0100 */
+#define portMPU_DEVICE_MEMORY_nGRE							( 0x08 ) /* 0000 1000 */
+#define portMPU_DEVICE_MEMORY_GRE							( 0x0C ) /* 0000 1100 */
+
+/* Normal memory attributes used in MPU_MAIR registers. */
+#define portMPU_NORMAL_MEMORY_NON_CACHEABLE					( 0x44 ) /* Non-cacheable. */
+#define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE			( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
+
+/* Attributes used in MPU_RBAR registers. */
+#define portMPU_REGION_NON_SHAREABLE						( 0UL << 3UL )
+#define portMPU_REGION_INNER_SHAREABLE						( 1UL << 3UL )
+#define portMPU_REGION_OUTER_SHAREABLE						( 2UL << 3UL )
+
+#define portMPU_REGION_PRIVILEGED_READ_WRITE				( 0UL << 1UL )
+#define portMPU_REGION_READ_WRITE							( 1UL << 1UL )
+#define portMPU_REGION_PRIVILEGED_READ_ONLY					( 2UL << 1UL )
+#define portMPU_REGION_READ_ONLY							( 3UL << 1UL )
+
+#define portMPU_REGION_EXECUTE_NEVER						( 1UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Settings to define an MPU region.
+ */
+typedef struct MPURegionSettings
+{
+	uint32_t ulRBAR;	/**< RBAR for the region. */
+	uint32_t ulRLAR;	/**< RLAR for the region. */
+} MPURegionSettings_t;
+
+/**
+ * @brief MPU settings as stored in the TCB.
+ */
+typedef struct MPU_SETTINGS
+{
+	uint32_t ulMAIR0;	/**< MAIR0 for the task containing attributes for all the 4 per task regions. */
+	MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
+} xMPU_SETTINGS;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief SVC numbers.
+ */
+#define portSVC_ALLOCATE_SECURE_CONTEXT						0
+#define portSVC_FREE_SECURE_CONTEXT							1
+#define portSVC_START_SCHEDULER								2
+#define portSVC_RAISE_PRIVILEGE								3
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Scheduler utilities.
+ */
+#define portYIELD()											vPortYield()
+#define portNVIC_INT_CTRL_REG								( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT								( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired )			if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x )								portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Critical section management.
+ */
+#define portSET_INTERRUPT_MASK_FROM_ISR()					ulSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)				vClearInterruptMask( x )
+#define portDISABLE_INTERRUPTS()							__asm volatile ( " cpsid i " ::: "memory" )
+#define portENABLE_INTERRUPTS()								__asm volatile ( " cpsie i " ::: "memory" )
+#define portENTER_CRITICAL()								vPortEnterCritical()
+#define portEXIT_CRITICAL()									vPortExitCritical()
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Task function macros as described on the FreeRTOS.org WEB site.
+ */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )		void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Allocate a secure context for the task.
+	 *
+	 * Tasks are not created with a secure context. Any task that is going to call
+	 * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
+	 * secure context before it calls any secure function.
+	 *
+	 * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
+	 */
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )	vPortAllocateSecureContext( ulSecureStackSize )
+
+	/**
+	 * @brief Called when a task is deleted to delete the task's secure context,
+	 * if it has one.
+	 *
+	 * @param[in] pxTCB The TCB of the task being deleted.
+	 */
+	#define portCLEAN_UP_TCB( pxTCB )							vPortFreeSecureContext( ( uint32_t * ) pxTCB )
+#else
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )
+	#define portCLEAN_UP_TCB( pxTCB )
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Checks whether or not the processor is privileged.
+	 *
+	 * @return 1 if the processor is already privileged, 0 otherwise.
+	 */
+	#define portIS_PRIVILEGED()									xIsPrivileged()
+
+	/**
+	 * @brief Raise an SVC request to raise privilege.
+	 *
+	 * The SVC handler checks that the SVC was raised from a system call and only
+	 * then it raises the privilege. If this is called from any other place,
+	 * the privilege is not raised.
+	 */
+	#define portRAISE_PRIVILEGE()								__asm volatile ( "svc %0 \n" :: "i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+
+	/**
+	 * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+	 * register.
+	 */
+	#define portRESET_PRIVILEGE()								vResetPrivilege()
+#else
+	#define portIS_PRIVILEGED()
+	#define portRAISE_PRIVILEGE()
+	#define portRESET_PRIVILEGE()
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Barriers.
+ */
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+/*-----------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

portable/GCC/ARM_CM23/secure/secure_context.c

@@ -0,0 +1,204 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Secure context includes. */
+#include "secure_context.h"
+
+/* Secure heap includes. */
+#include "secure_heap.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+/**
+ * @brief CONTROL value for privileged tasks.
+ *
+ * Bit[0] - 0 --> Thread mode is privileged.
+ * Bit[1] - 1 --> Thread mode uses PSP.
+ */
+#define securecontextCONTROL_VALUE_PRIVILEGED		0x02
+
+/**
+ * @brief CONTROL value for un-privileged tasks.
+ *
+ * Bit[0] - 1 --> Thread mode is un-privileged.
+ * Bit[1] - 1 --> Thread mode uses PSP.
+ */
+#define securecontextCONTROL_VALUE_UNPRIVILEGED		0x03
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Structure to represent secure context.
+ *
+ * @note Since stack grows down, pucStackStart is the highest address while
+ * pucStackLimit is the first addess of the allocated memory.
+ */
+typedef struct SecureContext
+{
+	uint8_t *pucCurrentStackPointer;	/**< Current value of stack pointer (PSP). */
+	uint8_t *pucStackLimit;				/**< Last location of the stack memory (PSPLIM). */
+	uint8_t *pucStackStart;				/**< First location of the stack memory. */
+} SecureContext_t;
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureContext_Init( void )
+{
+	uint32_t ulIPSR;
+
+	/* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* No stack for thread mode until a task's context is loaded. */
+		secureportSET_PSPLIM( securecontextNO_STACK );
+		secureportSET_PSP( securecontextNO_STACK );
+
+		#if( configENABLE_MPU == 1 )
+		{
+			/* Configure thread mode to use PSP and to be unprivileged. */
+			secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED );
+		}
+		#else /* configENABLE_MPU */
+		{
+			/* Configure thread mode to use PSP and to be privileged.. */
+			secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED );
+		}
+		#endif /* configENABLE_MPU */
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged )
+#else /* configENABLE_MPU */
+	secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize )
+#endif /* configENABLE_MPU */
+{
+	uint8_t *pucStackMemory = NULL;
+	uint32_t ulIPSR;
+	SecureContextHandle_t xSecureContextHandle = NULL;
+	#if( configENABLE_MPU == 1 )
+		uint32_t *pulCurrentStackPointer = NULL;
+	#endif /* configENABLE_MPU */
+
+	/* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* Allocate the context structure. */
+		xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) );
+
+		if( xSecureContextHandle != NULL )
+		{
+			/* Allocate the stack space. */
+			pucStackMemory = pvPortMalloc( ulSecureStackSize );
+
+			if( pucStackMemory != NULL )
+			{
+				/* Since stack grows down, the starting point will be the last
+				 * location. Note that this location is next to the last
+				 * allocated byte because the hardware decrements the stack
+				 * pointer before writing i.e. if stack pointer is 0x2, a push
+				 * operation will decrement the stack pointer to 0x1 and then
+				 * write at 0x1. */
+				xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize;
+
+				/* The stack cannot go beyond this location. This value is
+				 * programmed in the PSPLIM register on context switch.*/
+				xSecureContextHandle->pucStackLimit = pucStackMemory;
+
+				#if( configENABLE_MPU == 1 )
+				{
+					/* Store the correct CONTROL value for the task on the stack.
+					 * This value is programmed in the CONTROL register on
+					 * context switch. */
+					pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart;
+					pulCurrentStackPointer--;
+					if( ulIsTaskPrivileged )
+					{
+						*( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED;
+					}
+					else
+					{
+						*( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED;
+					}
+
+					/* Store the current stack pointer. This value is programmed in
+					 * the PSP register on context switch. */
+					xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer;
+				}
+				#else /* configENABLE_MPU */
+				{
+					/* Current SP is set to the starting of the stack. This
+					 * value programmed in the PSP register on context switch. */
+					xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart;
+
+				}
+				#endif /* configENABLE_MPU */
+			}
+			else
+			{
+				/* Free the context to avoid memory leak and make sure to return
+				 * NULL to indicate failure. */
+				vPortFree( xSecureContextHandle );
+				xSecureContextHandle = NULL;
+			}
+		}
+	}
+
+	return xSecureContextHandle;
+}
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle )
+{
+	uint32_t ulIPSR;
+
+	/* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* Ensure that valid parameters are passed. */
+		secureportASSERT( xSecureContextHandle != NULL );
+
+		/* Free the stack space. */
+		vPortFree( xSecureContextHandle->pucStackLimit );
+
+		/* Free the context itself. */
+		vPortFree( xSecureContextHandle );
+	}
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/secure/secure_context.h

@@ -0,0 +1,111 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_CONTEXT_H__
+#define __SECURE_CONTEXT_H__
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* FreeRTOS includes. */
+#include "FreeRTOSConfig.h"
+
+/**
+ * @brief PSP value when no task's context is loaded.
+ */
+#define securecontextNO_STACK	0x0
+
+/**
+ * @brief Opaque handle.
+ */
+struct SecureContext;
+typedef struct SecureContext*	SecureContextHandle_t;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Initializes the secure context management system.
+ *
+ * PSP is set to NULL and therefore a task must allocate and load a context
+ * before calling any secure side function in the thread mode.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ */
+void SecureContext_Init( void );
+
+/**
+ * @brief Allocates a context on the secure side.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] ulSecureStackSize Size of the stack to allocate on secure side.
+ * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise.
+ *
+ * @return Opaque context handle if context is successfully allocated, NULL
+ * otherwise.
+ */
+#if( configENABLE_MPU == 1 )
+	SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged );
+#else /* configENABLE_MPU */
+	SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize );
+#endif /* configENABLE_MPU */
+
+/**
+ * @brief Frees the given context.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] xSecureContextHandle Context handle corresponding to the
+ * context to be freed.
+ */
+void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle );
+
+/**
+ * @brief Loads the given context.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] xSecureContextHandle Context handle corresponding to the context
+ * to be loaded.
+ */
+void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle );
+
+/**
+ * @brief Saves the given context.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] xSecureContextHandle Context handle corresponding to the context
+ * to be saved.
+ */
+void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle );
+
+#endif /* __SECURE_CONTEXT_H__ */

portable/GCC/ARM_CM23/secure/secure_context_port.c

@@ -0,0 +1,91 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Secure context includes. */
+#include "secure_context.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+#if( configENABLE_FPU == 1 )
+	#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
+#endif
+
+secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
+{
+	/* xSecureContextHandle value is in r0. */
+	__asm volatile
+	(
+	"	.syntax unified							\n"
+	"											\n"
+	"	mrs r1, ipsr							\n" /* r1 = IPSR. */
+	"	cbz r1, load_ctx_therad_mode			\n" /* Do nothing if the processor is running in the Thread Mode. */
+	"	ldmia r0!, {r1, r2}						\n" /* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */
+	#if( configENABLE_MPU == 1 )
+	"	ldmia r1!, {r3}							\n" /* Read CONTROL register value from task's stack. r3 = CONTROL. */
+	"	msr control, r3							\n" /* CONTROL = r3. */
+	#endif /* configENABLE_MPU */
+	"	msr psplim, r2							\n" /* PSPLIM = r2. */
+	"	msr psp, r1								\n" /* PSP = r1. */
+	"											\n"
+	" load_ctx_therad_mode:						\n"
+	"	nop										\n"
+	"											\n"
+	:::"r0", "r1", "r2"
+	);
+}
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
+{
+	/* xSecureContextHandle value is in r0. */
+	__asm volatile
+	(
+	"	.syntax unified							\n"
+	"											\n"
+	"	mrs r1, ipsr							\n" /* r1 = IPSR. */
+	"	cbz r1, save_ctx_therad_mode			\n" /* Do nothing if the processor is running in the Thread Mode. */
+	"	mrs r1, psp								\n" /* r1 = PSP. */
+	#if( configENABLE_MPU == 1 )
+	"	mrs r2, control							\n" /* r2 = CONTROL. */
+	"	subs r1, r1, #4							\n" /* Make space for the CONTROL value on the stack. */
+	"	str r1, [r0]							\n" /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
+	"	stmia r1!, {r2}							\n" /* Store CONTROL value on the stack. */
+	#else /* configENABLE_MPU */
+	"	str r1, [r0]							\n" /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
+	#endif /* configENABLE_MPU */
+	"	movs r1, %0								\n" /* r1 = securecontextNO_STACK. */
+	"	msr psplim, r1							\n" /* PSPLIM = securecontextNO_STACK. */
+	"	msr psp, r1								\n" /* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */
+	"											\n"
+	" save_ctx_therad_mode:						\n"
+	"	nop										\n"
+	"											\n"
+	:: "i" ( securecontextNO_STACK ) : "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/secure/secure_heap.c

@@ -0,0 +1,450 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Secure context heap includes. */
+#include "secure_heap.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+/**
+ * @brief Total heap size.
+ */
+#define secureconfigTOTAL_HEAP_SIZE		( ( ( size_t ) ( 10 * 1024 ) ) )
+
+/* No test marker by default. */
+#ifndef mtCOVERAGE_TEST_MARKER
+	#define mtCOVERAGE_TEST_MARKER()
+#endif
+
+/* No tracing by default. */
+#ifndef traceMALLOC
+	#define traceMALLOC( pvReturn, xWantedSize )
+#endif
+
+/* No tracing by default. */
+#ifndef traceFREE
+	#define traceFREE( pv, xBlockSize )
+#endif
+
+/* Block sizes must not get too small. */
+#define secureheapMINIMUM_BLOCK_SIZE	( ( size_t ) ( xHeapStructSize << 1 ) )
+
+/* Assumes 8bit bytes! */
+#define secureheapBITS_PER_BYTE			( ( size_t ) 8 )
+/*-----------------------------------------------------------*/
+
+/* Allocate the memory for the heap. */
+#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
+	/* The application writer has already defined the array used for the RTOS
+	 * heap - probably so it can be placed in a special segment or address. */
+	extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
+#else /* configAPPLICATION_ALLOCATED_HEAP */
+	static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
+#endif /* configAPPLICATION_ALLOCATED_HEAP */
+
+/**
+ * @brief The linked list structure.
+ *
+ * This is used to link free blocks in order of their memory address.
+ */
+typedef struct A_BLOCK_LINK
+{
+	struct A_BLOCK_LINK *pxNextFreeBlock;	/**< The next free block in the list. */
+	size_t xBlockSize;						/**< The size of the free block. */
+} BlockLink_t;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Called automatically to setup the required heap structures the first
+ * time pvPortMalloc() is called.
+ */
+static void prvHeapInit( void );
+
+/**
+ * @brief Inserts a block of memory that is being freed into the correct
+ * position in the list of free memory blocks.
+ *
+ * The block being freed will be merged with the block in front it and/or the
+ * block behind it if the memory blocks are adjacent to each other.
+ *
+ * @param[in] pxBlockToInsert The block being freed.
+ */
+static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert );
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief The size of the structure placed at the beginning of each allocated
+ * memory block must by correctly byte aligned.
+ */
+static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
+
+/**
+ * @brief Create a couple of list links to mark the start and end of the list.
+ */
+static BlockLink_t xStart, *pxEnd = NULL;
+
+/**
+ * @brief Keeps track of the number of free bytes remaining, but says nothing
+ * about fragmentation.
+ */
+static size_t xFreeBytesRemaining = 0U;
+static size_t xMinimumEverFreeBytesRemaining = 0U;
+
+/**
+ * @brief Gets set to the top bit of an size_t type.
+ *
+ * When this bit in the xBlockSize member of an BlockLink_t structure is set
+ * then the block belongs to the application. When the bit is free the block is
+ * still part of the free heap space.
+ */
+static size_t xBlockAllocatedBit = 0;
+/*-----------------------------------------------------------*/
+
+static void prvHeapInit( void )
+{
+BlockLink_t *pxFirstFreeBlock;
+uint8_t *pucAlignedHeap;
+size_t uxAddress;
+size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE;
+
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	uxAddress = ( size_t ) ucHeap;
+
+	if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 )
+	{
+		uxAddress += ( secureportBYTE_ALIGNMENT - 1 );
+		uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
+		xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
+	}
+
+	pucAlignedHeap = ( uint8_t * ) uxAddress;
+
+	/* xStart is used to hold a pointer to the first item in the list of free
+	 * blocks.  The void cast is used to prevent compiler warnings. */
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+	xStart.xBlockSize = ( size_t ) 0;
+
+	/* pxEnd is used to mark the end of the list of free blocks and is inserted
+	 * at the end of the heap space. */
+	uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
+	uxAddress -= xHeapStructSize;
+	uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
+	pxEnd = ( void * ) uxAddress;
+	pxEnd->xBlockSize = 0;
+	pxEnd->pxNextFreeBlock = NULL;
+
+	/* To start with there is a single free block that is sized to take up the
+	 * entire heap space, minus the space taken by pxEnd. */
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
+	pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock;
+	pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
+
+	/* Only one block exists - and it covers the entire usable heap space. */
+	xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
+	xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
+
+	/* Work out the position of the top bit in a size_t variable. */
+	xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 );
+}
+/*-----------------------------------------------------------*/
+
+static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
+{
+BlockLink_t *pxIterator;
+uint8_t *puc;
+
+	/* Iterate through the list until a block is found that has a higher address
+	 * than the block being inserted. */
+	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
+	{
+		/* Nothing to do here, just iterate to the right position. */
+	}
+
+	/* Do the block being inserted, and the block it is being inserted after
+	 * make a contiguous block of memory? */
+	puc = ( uint8_t * ) pxIterator;
+	if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
+	{
+		pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
+		pxBlockToInsert = pxIterator;
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+
+	/* Do the block being inserted, and the block it is being inserted before
+	 * make a contiguous block of memory? */
+	puc = ( uint8_t * ) pxBlockToInsert;
+	if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
+	{
+		if( pxIterator->pxNextFreeBlock != pxEnd )
+		{
+			/* Form one big block from the two blocks. */
+			pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
+			pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
+		}
+		else
+		{
+			pxBlockToInsert->pxNextFreeBlock = pxEnd;
+		}
+	}
+	else
+	{
+		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
+	}
+
+	/* If the block being inserted plugged a gab, so was merged with the block
+	 * before and the block after, then it's pxNextFreeBlock pointer will have
+	 * already been set, and should not be set here as that would make it point
+	 * to itself. */
+	if( pxIterator != pxBlockToInsert )
+	{
+		pxIterator->pxNextFreeBlock = pxBlockToInsert;
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
+void *pvReturn = NULL;
+
+	/* If this is the first call to malloc then the heap will require
+	 * initialisation to setup the list of free blocks. */
+	if( pxEnd == NULL )
+	{
+		prvHeapInit();
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+
+	/* Check the requested block size is not so large that the top bit is set.
+	 * The top bit of the block size member of the BlockLink_t structure is used
+	 * to determine who owns the block - the application or the kernel, so it
+	 * must be free. */
+	if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
+	{
+		/* The wanted size is increased so it can contain a BlockLink_t
+		 * structure in addition to the requested amount of bytes. */
+		if( xWantedSize > 0 )
+		{
+			xWantedSize += xHeapStructSize;
+
+			/* Ensure that blocks are always aligned to the required number of
+			 * bytes. */
+			if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 )
+			{
+				/* Byte alignment required. */
+				xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) );
+				secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 );
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+
+		if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
+		{
+			/* Traverse the list from the start (lowest address) block until
+			 * one of adequate size is found. */
+			pxPreviousBlock = &xStart;
+			pxBlock = xStart.pxNextFreeBlock;
+			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+			{
+				pxPreviousBlock = pxBlock;
+				pxBlock = pxBlock->pxNextFreeBlock;
+			}
+
+			/* If the end marker was reached then a block of adequate size was
+			 * not found. */
+			if( pxBlock != pxEnd )
+			{
+				/* Return the memory space pointed to - jumping over the
+				 * BlockLink_t structure at its start. */
+				pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
+
+				/* This block is being returned for use so must be taken out
+				 * of the list of free blocks. */
+				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+				/* If the block is larger than required it can be split into
+				 * two. */
+				if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE )
+				{
+					/* This block is to be split into two.  Create a new
+					 * block following the number of bytes requested. The void
+					 * cast is used to prevent byte alignment warnings from the
+					 * compiler. */
+					pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
+					secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 );
+
+					/* Calculate the sizes of two blocks split from the single
+					 * block. */
+					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+					pxBlock->xBlockSize = xWantedSize;
+
+					/* Insert the new block into the list of free blocks. */
+					prvInsertBlockIntoFreeList( pxNewBlockLink );
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+
+				xFreeBytesRemaining -= pxBlock->xBlockSize;
+
+				if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
+				{
+					xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+
+				/* The block is being returned - it is allocated and owned by
+				 * the application and has no "next" block. */
+				pxBlock->xBlockSize |= xBlockAllocatedBit;
+				pxBlock->pxNextFreeBlock = NULL;
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+
+	traceMALLOC( pvReturn, xWantedSize );
+
+	#if( secureconfigUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+	#endif
+
+	secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 );
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+uint8_t *puc = ( uint8_t * ) pv;
+BlockLink_t *pxLink;
+
+	if( pv != NULL )
+	{
+		/* The memory being freed will have an BlockLink_t structure immediately
+		 * before it. */
+		puc -= xHeapStructSize;
+
+		/* This casting is to keep the compiler from issuing warnings. */
+		pxLink = ( void * ) puc;
+
+		/* Check the block is actually allocated. */
+		secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
+		secureportASSERT( pxLink->pxNextFreeBlock == NULL );
+
+		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
+		{
+			if( pxLink->pxNextFreeBlock == NULL )
+			{
+				/* The block is being returned to the heap - it is no longer
+				 * allocated. */
+				pxLink->xBlockSize &= ~xBlockAllocatedBit;
+
+				secureportDISABLE_NON_SECURE_INTERRUPTS();
+				{
+					/* Add this block to the list of free blocks. */
+					xFreeBytesRemaining += pxLink->xBlockSize;
+					traceFREE( pv, pxLink->xBlockSize );
+					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
+				}
+				secureportENABLE_NON_SECURE_INTERRUPTS();
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return xFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetMinimumEverFreeHeapSize( void )
+{
+	return xMinimumEverFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* This just exists to keep the linker quiet. */
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/secure/secure_heap.h

@@ -0,0 +1,51 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_HEAP_H__
+#define __SECURE_HEAP_H__
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/**
+ * @brief Allocates memory from heap.
+ *
+ * @param[in] xWantedSize The size of the memory to be allocated.
+ *
+ * @return Pointer to the memory region if the allocation is successful, NULL
+ * otherwise.
+ */
+void *pvPortMalloc( size_t xWantedSize );
+
+/**
+ * @brief Frees the previously allocated memory.
+ *
+ * @param[in] pv Pointer to the memory to be freed.
+ */
+void vPortFree( void *pv );
+
+#endif /* __SECURE_HEAP_H__ */

portable/GCC/ARM_CM23/secure/secure_init.c

@@ -0,0 +1,105 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Secure init includes. */
+#include "secure_init.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+/**
+ * @brief Constants required to manipulate the SCB.
+ */
+#define secureinitSCB_AIRCR					( ( volatile uint32_t * ) 0xe000ed0c )  /* Application Interrupt and Reset Control Register. */
+#define secureinitSCB_AIRCR_VECTKEY_POS		( 16UL )
+#define secureinitSCB_AIRCR_VECTKEY_MASK	( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS )
+#define secureinitSCB_AIRCR_PRIS_POS		( 14UL )
+#define secureinitSCB_AIRCR_PRIS_MASK		( 1UL << secureinitSCB_AIRCR_PRIS_POS )
+
+/**
+ * @brief Constants required to manipulate the FPU.
+ */
+#define secureinitFPCCR						( ( volatile uint32_t * ) 0xe000ef34 )  /* Floating Point Context Control Register. */
+#define secureinitFPCCR_LSPENS_POS			( 29UL )
+#define secureinitFPCCR_LSPENS_MASK			( 1UL << secureinitFPCCR_LSPENS_POS )
+#define secureinitFPCCR_TS_POS				( 26UL )
+#define secureinitFPCCR_TS_MASK				( 1UL << secureinitFPCCR_TS_POS )
+
+#define secureinitNSACR						( ( volatile uint32_t * ) 0xe000ed8c )  /* Non-secure Access Control Register. */
+#define secureinitNSACR_CP10_POS			( 10UL )
+#define secureinitNSACR_CP10_MASK			( 1UL << secureinitNSACR_CP10_POS )
+#define secureinitNSACR_CP11_POS			( 11UL )
+#define secureinitNSACR_CP11_MASK			( 1UL << secureinitNSACR_CP11_POS )
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void )
+{
+	uint32_t ulIPSR;
+
+	 /* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		*( secureinitSCB_AIRCR ) =	( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) |
+									( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) |
+									( ( 0x1UL	<< secureinitSCB_AIRCR_PRIS_POS )	& secureinitSCB_AIRCR_PRIS_MASK );
+	}
+}
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void )
+{
+	uint32_t ulIPSR;
+
+	 /* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* CP10 = 1 ==> Non-secure access to the Floating Point Unit is
+		 * permitted. CP11 should be programmed to the same value as CP10. */
+		*( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK );
+
+		/* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures
+		 * that we can enable/disable lazy stacking in port.c file. */
+		*( secureinitFPCCR ) &= ~ ( secureinitFPCCR_LSPENS_MASK );
+
+		/* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP
+		 * registers (S16-S31) are also pushed to stack on exception entry and
+		 * restored on exception return. */
+		*( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK );
+	}
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/secure/secure_init.h

@@ -0,0 +1,53 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_INIT_H__
+#define __SECURE_INIT_H__
+
+/**
+ * @brief De-prioritizes the non-secure exceptions.
+ *
+ * This is needed to ensure that the non-secure PendSV runs at the lowest
+ * priority. Context switch is done in the non-secure PendSV handler.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ */
+void SecureInit_DePrioritizeNSExceptions( void );
+
+/**
+ * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access.
+ *
+ * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point
+ * Registers are not leaked to the non-secure side.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ */
+void SecureInit_EnableNSFPUAccess( void );
+
+#endif /* __SECURE_INIT_H__ */

portable/GCC/ARM_CM23/secure/secure_port_macros.h

@@ -0,0 +1,133 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_PORT_MACROS_H__
+#define __SECURE_PORT_MACROS_H__
+
+/**
+ * @brief Byte alignment requirements.
+ */
+#define secureportBYTE_ALIGNMENT					8
+#define secureportBYTE_ALIGNMENT_MASK				( 0x0007 )
+
+/**
+ * @brief Macro to declare a function as non-secure callable.
+ */
+#if defined( __IAR_SYSTEMS_ICC__ )
+	#define secureportNON_SECURE_CALLABLE			__cmse_nonsecure_entry __root
+#else
+	#define secureportNON_SECURE_CALLABLE			__attribute__((cmse_nonsecure_entry)) __attribute__((used))
+#endif
+
+/**
+ * @brief Set the secure PRIMASK value.
+ */
+#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \
+	__asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" )
+
+/**
+ * @brief Set the non-secure PRIMASK value.
+ */
+#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \
+	__asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" )
+
+/**
+ * @brief Read the PSP value in the given variable.
+ */
+#define secureportREAD_PSP( pucOutCurrentStackPointer ) \
+	__asm volatile ( "mrs %0, psp"  : "=r" ( pucOutCurrentStackPointer ) )
+
+/**
+ * @brief Set the PSP to the given value.
+ */
+#define secureportSET_PSP( pucCurrentStackPointer ) \
+	__asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) )
+
+/**
+ * @brief Set the PSPLIM to the given value.
+ */
+#define secureportSET_PSPLIM( pucStackLimit ) \
+	__asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) )
+
+/**
+ * @brief Set the NonSecure MSP to the given value.
+ */
+#define secureportSET_MSP_NS( pucMainStackPointer ) \
+	__asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) )
+
+/**
+ * @brief Set the CONTROL register to the given value.
+ */
+#define secureportSET_CONTROL( ulControl ) \
+	__asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" )
+
+/**
+ * @brief Read the Interrupt Program Status Register (IPSR) value in the given
+ * variable.
+ */
+#define secureportREAD_IPSR( ulIPSR ) \
+	__asm volatile ( "mrs %0, ipsr"  : "=r" ( ulIPSR ) )
+
+/**
+ * @brief PRIMASK value to enable interrupts.
+ */
+#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL		0
+
+/**
+ * @brief PRIMASK value to disable interrupts.
+ */
+#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL	1
+
+/**
+ * @brief Disable secure interrupts.
+ */
+#define secureportDISABLE_SECURE_INTERRUPTS()		secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
+
+/**
+ * @brief Disable non-secure interrupts.
+ *
+ * This effectively disables context switches.
+ */
+#define secureportDISABLE_NON_SECURE_INTERRUPTS()	secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
+
+/**
+ * @brief Enable non-secure interrupts.
+ */
+#define secureportENABLE_NON_SECURE_INTERRUPTS()	secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL )
+
+/**
+ * @brief Assert definition.
+ */
+#define secureportASSERT( x )						\
+	if( ( x ) == 0 )								\
+	{												\
+		secureportDISABLE_SECURE_INTERRUPTS();		\
+		secureportDISABLE_NON_SECURE_INTERRUPTS();	\
+		for( ;; );									\
+	}
+
+#endif /* __SECURE_PORT_MACROS_H__ */

portable/GCC/ARM_CM23_NTZ/non_secure/port.c

@@ -0,0 +1,933 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers. That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/* Portasm includes. */
+#include "portasm.h"
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/* Secure components includes. */
+	#include "secure_context.h"
+	#include "secure_init.h"
+#endif /* configENABLE_TRUSTZONE */
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/**
+ * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only
+ * i.e. the processor boots as secure and never jumps to the non-secure side.
+ * The Trust Zone support in the port must be disabled in order to run FreeRTOS
+ * on the secure side. The following are the valid configuration seetings:
+ *
+ * 1. Run FreeRTOS on the Secure Side:
+ *		configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0
+ *
+ * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1
+ *
+ * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0
+ */
+#if( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) )
+	#error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side.
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the NVIC.
+ */
+#define portNVIC_SYSTICK_CTRL				( ( volatile uint32_t * ) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD				( ( volatile uint32_t * ) 0xe000e014 )
+#define portNVIC_SYSTICK_CURRENT_VALUE		( ( volatile uint32_t * ) 0xe000e018 )
+#define portNVIC_INT_CTRL					( ( volatile uint32_t * ) 0xe000ed04 )
+#define portNVIC_SYSPRI2					( ( volatile uint32_t * ) 0xe000ed20 )
+#define portNVIC_SYSTICK_CLK				( 0x00000004 )
+#define portNVIC_SYSTICK_INT				( 0x00000002 )
+#define portNVIC_SYSTICK_ENABLE				( 0x00000001 )
+#define portNVIC_PENDSVSET					( 0x10000000 )
+#define portMIN_INTERRUPT_PRIORITY			( 255UL )
+#define portNVIC_PENDSV_PRI					( portMIN_INTERRUPT_PRIORITY << 16UL )
+#define portNVIC_SYSTICK_PRI				( portMIN_INTERRUPT_PRIORITY << 24UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the SCB.
+ */
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG	( * ( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_MEM_FAULT_ENABLE			( 1UL << 16UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the FPU.
+ */
+#define portCPACR							( ( volatile uint32_t * ) 0xe000ed88 )	/* Coprocessor Access Control Register. */
+#define portCPACR_CP10_VALUE				( 3UL )
+#define portCPACR_CP11_VALUE				portCPACR_CP10_VALUE
+#define portCPACR_CP10_POS					( 20UL )
+#define portCPACR_CP11_POS					( 22UL )
+
+#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 )	/* Floating Point Context Control Register. */
+#define portFPCCR_ASPEN_POS					( 31UL )
+#define portFPCCR_ASPEN_MASK				( 1UL << portFPCCR_ASPEN_POS )
+#define portFPCCR_LSPEN_POS					( 30UL )
+#define portFPCCR_LSPEN_MASK				( 1UL << portFPCCR_LSPEN_POS )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the MPU.
+ */
+#define portMPU_TYPE_REG					( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
+#define portMPU_CTRL_REG					( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
+#define portMPU_RNR_REG						( * ( ( volatile uint32_t * ) 0xe000ed98 ) )
+
+#define portMPU_RBAR_REG					( * ( ( volatile uint32_t * ) 0xe000ed9c ) )
+#define portMPU_RLAR_REG					( * ( ( volatile uint32_t * ) 0xe000eda0 ) )
+
+#define portMPU_RBAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda4 ) )
+#define portMPU_RLAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda8 ) )
+
+#define portMPU_RBAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edac ) )
+#define portMPU_RLAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edb0 ) )
+
+#define portMPU_RBAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb4 ) )
+#define portMPU_RLAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb8 ) )
+
+#define portMPU_MAIR0_REG					( * ( ( volatile uint32_t * ) 0xe000edc0 ) )
+#define portMPU_MAIR1_REG					( * ( ( volatile uint32_t * ) 0xe000edc4 ) )
+
+#define portMPU_RBAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+#define portMPU_RLAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+
+#define portMPU_MAIR_ATTR0_POS				( 0UL )
+#define portMPU_MAIR_ATTR0_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR1_POS				( 8UL )
+#define portMPU_MAIR_ATTR1_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR2_POS				( 16UL )
+#define portMPU_MAIR_ATTR2_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR3_POS				( 24UL )
+#define portMPU_MAIR_ATTR3_MASK				( 0xff000000 )
+
+#define portMPU_MAIR_ATTR4_POS				( 0UL )
+#define portMPU_MAIR_ATTR4_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR5_POS				( 8UL )
+#define portMPU_MAIR_ATTR5_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR6_POS				( 16UL )
+#define portMPU_MAIR_ATTR6_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR7_POS				( 24UL )
+#define portMPU_MAIR_ATTR7_MASK				( 0xff000000 )
+
+#define portMPU_RLAR_ATTR_INDEX0			( 0UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX1			( 1UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX2			( 2UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX3			( 3UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX4			( 4UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX5			( 5UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX6			( 6UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX7			( 7UL << 1UL )
+
+#define portMPU_RLAR_REGION_ENABLE			( 1UL )
+
+/* Enable privileged access to unmapped region. */
+#define portMPU_PRIV_BACKGROUND_ENABLE		( 1UL << 2UL )
+
+/* Enable MPU. */
+#define portMPU_ENABLE						( 1UL << 0UL )
+
+/* Expected value of the portMPU_TYPE register. */
+#define portEXPECTED_MPU_TYPE_VALUE			( 8UL << 8UL ) /* 8 regions, unified. */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to set up the initial stack.
+ */
+#define portINITIAL_XPSR					( 0x01000000 )
+
+#if( configRUN_FREERTOS_SECURE_ONLY == 1 )
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         FD
+	 * 1111 1111  1111 1111  1111 1111  1111 1101
+	 *
+	 * Bit[6] - 1 --> The exception was taken from the Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 1 --> The exception was taken to the Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xfffffffd )
+#else
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         BC
+	 * 1111 1111  1111 1111  1111 1111  1011 1100
+	 *
+	 * Bit[6] - 0 --> The exception was taken from the Non-Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 0 --> The exception was taken to the Non-Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xffffffbc )
+#endif /* configRUN_FREERTOS_SECURE_ONLY */
+
+/**
+ * @brief CONTROL register privileged bit mask.
+ *
+ * Bit[0] in CONTROL register tells the privilege:
+ *  Bit[0] = 0 ==> The task is privileged.
+ *  Bit[0] = 1 ==> The task is not privileged.
+ */
+#define portCONTROL_PRIVILEGED_MASK			( 1UL << 0UL )
+
+/**
+ * @brief Initial CONTROL register values.
+ */
+#define portINITIAL_CONTROL_UNPRIVILEGED	( 0x3 )
+#define portINITIAL_CONTROL_PRIVILEGED		( 0x2 )
+
+/**
+ * @brief Let the user override the pre-loading of the initial LR with the
+ * address of prvTaskExitError() in case it messes up unwinding of the stack
+ * in the debugger.
+ */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS			configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS			prvTaskExitError
+#endif
+
+/**
+ * @brief If portPRELOAD_REGISTERS then registers will be given an initial value
+ * when a task is created. This helps in debugging at the cost of code size.
+ */
+#define portPRELOAD_REGISTERS				1
+
+/**
+ * @brief A task is created without a secure context, and must call
+ * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes
+ * any secure calls.
+ */
+#define portNO_SECURE_CONTEXT				0
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Used to catch tasks that attempt to return from their implementing
+ * function.
+ */
+static void prvTaskExitError( void );
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Setup the Memory Protection Unit (MPU).
+	 */
+	static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_MPU */
+
+#if( configENABLE_FPU == 1 )
+	/**
+	 * @brief Setup the Floating Point Unit (FPU).
+	 */
+	static void prvSetupFPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_FPU */
+
+/**
+ * @brief Setup the timer to generate the tick interrupts.
+ *
+ * The implementation in this file is weak to allow application writers to
+ * change the timer used to generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether the current execution context is interrupt.
+ *
+ * @return pdTRUE if the current execution context is interrupt, pdFALSE
+ * otherwise.
+ */
+BaseType_t xPortIsInsideInterrupt( void );
+
+/**
+ * @brief Yield the processor.
+ */
+void vPortYield( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enter critical section.
+ */
+void vPortEnterCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Exit from critical section.
+ */
+void vPortExitCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SysTick handler.
+ */
+void SysTick_Handler( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief C part of SVC handler.
+ */
+portDONT_DISCARD void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) PRIVILEGED_FUNCTION;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Each task maintains its own interrupt status in the critical nesting
+ * variable.
+ */
+static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Saved as part of the task context to indicate which context the
+	 * task is using on the secure side.
+	 */
+	portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT;
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Stop and reset the SysTick. */
+	*( portNVIC_SYSTICK_CTRL ) = 0UL;
+	*( portNVIC_SYSTICK_CURRENT_VALUE ) = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	*( portNVIC_SYSTICK_LOAD ) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	*( portNVIC_SYSTICK_CTRL ) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0UL;
+
+	/* A function that implements a task must not exit or attempt to return to
+	 * its caller as there is nothing to return to. If a task wants to exit it
+	 * should instead call vTaskDelete( NULL ). Artificially force an assert()
+	 * to be triggered if configASSERT() is defined, then stop here so
+	 * application writers can catch the error. */
+	configASSERT( ulCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		 * started to remove a compiler warning about the function being
+		 * defined but never called.  ulDummy is used purely to quieten other
+		 * warnings about code appearing after this function is called - making
+		 * ulDummy volatile makes the compiler think the function could return
+		 * and therefore not output an 'unreachable code' warning for code that
+		 * appears after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __privileged_functions_start__;
+		extern uint32_t * __privileged_functions_end__;
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+		extern uint32_t * __unprivileged_flash_start__;
+		extern uint32_t * __unprivileged_flash_end__;
+		extern uint32_t * __privileged_sram_start__;
+		extern uint32_t * __privileged_sram_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __privileged_functions_start__[];
+		extern uint32_t __privileged_functions_end__[];
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+		extern uint32_t __unprivileged_flash_start__[];
+		extern uint32_t __unprivileged_flash_end__[];
+		extern uint32_t __privileged_sram_start__[];
+		extern uint32_t __privileged_sram_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+
+		/* Check that the MPU is present. */
+		if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
+		{
+			/* MAIR0 - Index 0. */
+			portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+			/* MAIR0 - Index 1. */
+			portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+			/* Setup privileged flash as Read Only so that privileged tasks can
+			 * read it but not modify. */
+			portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged flash as Read Only by both privileged and
+			 * unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged syscalls flash as Read Only by both privileged
+			 * and unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup RAM containing kernel data for privileged access only. */
+			portMPU_RNR_REG = portPRIVILEGED_RAM_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+								( portMPU_REGION_EXECUTE_NEVER );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Enable mem fault. */
+			portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE;
+
+			/* Enable MPU with privileged background access i.e. unmapped
+			 * regions have privileged access. */
+			portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE | portMPU_ENABLE );
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_FPU == 1 )
+	static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			/* Enable non-secure access to the FPU. */
+			SecureInit_EnableNSFPUAccess();
+		}
+		#endif /* configENABLE_TRUSTZONE */
+
+		/* CP10 = 11 ==> Full access to FPU i.e. both privileged and
+		 * unprivileged code should be able to access FPU. CP11 should be
+		 * programmed to the same value as CP10. */
+		*( portCPACR ) |=	(	( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) |
+								( portCPACR_CP11_VALUE << portCPACR_CP11_POS )
+							);
+
+		/* ASPEN = 1 ==> Hardware should automatically preserve floating point
+		 * context on exception entry and restore on exception return.
+		 * LSPEN = 1 ==> Enable lazy context save of FP state. */
+		*( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK );
+	}
+#endif /* configENABLE_FPU */
+/*-----------------------------------------------------------*/
+
+void vPortYield( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Set a PendSV to request a context switch. */
+	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	portDISABLE_INTERRUPTS();
+	ulCriticalNesting++;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	configASSERT( ulCriticalNesting );
+	ulCriticalNesting--;
+
+	if( ulCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
+{
+uint32_t ulPreviousMask;
+
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */
+{
+#if( configENABLE_MPU == 1 )
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+#endif /* configENABLE_MPU */
+
+uint32_t ulPC;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	uint32_t ulR0;
+	#if( configENABLE_MPU == 1 )
+		uint32_t ulControl, ulIsTaskPrivileged;
+	#endif /* configENABLE_MPU */
+#endif /* configENABLE_TRUSTZONE */
+uint8_t ucSVCNumber;
+
+	/* Register are stored on the stack in the following order - R0, R1, R2, R3,
+	 * R12, LR, PC, xPSR. */
+	ulPC = pulCallerStackAddress[ 6 ];
+	ucSVCNumber = ( ( uint8_t *) ulPC )[ -2 ];
+
+	switch( ucSVCNumber )
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+			case portSVC_ALLOCATE_SECURE_CONTEXT:
+			{
+				/* R0 contains the stack size passed as parameter to the
+				 * vPortAllocateSecureContext function. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				#if( configENABLE_MPU == 1 )
+				{
+					/* Read the CONTROL register value. */
+					__asm volatile ( "mrs %0, control"  : "=r" ( ulControl ) );
+
+					/* The task that raised the SVC is privileged if Bit[0]
+					 * in the CONTROL register is 0. */
+					ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
+
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged );
+				}
+				#else
+				{
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0 );
+				}
+				#endif /* configENABLE_MPU */
+
+				configASSERT( xSecureContext != NULL );
+				SecureContext_LoadContext( xSecureContext );
+			}
+			break;
+
+			case portSVC_FREE_SECURE_CONTEXT:
+			{
+				/* R0 contains the secure context handle to be freed. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				/* Free the secure context. */
+				SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 );
+			}
+			break;
+		#endif /* configENABLE_TRUSTZONE */
+
+		case portSVC_START_SCHEDULER:
+		{
+			#if( configENABLE_TRUSTZONE == 1 )
+			{
+				/* De-prioritize the non-secure exceptions so that the
+				 * non-secure pendSV runs at the lowest priority. */
+				SecureInit_DePrioritizeNSExceptions();
+
+				/* Initialize the secure context management system. */
+				SecureContext_Init();
+			}
+			#endif /* configENABLE_TRUSTZONE */
+
+			#if( configENABLE_FPU == 1 )
+			{
+				/* Setup the Floating Point Unit (FPU). */
+				prvSetupFPU();
+			}
+			#endif /* configENABLE_FPU */
+
+			/* Setup the context of the first task so that the first task starts
+			 * executing. */
+			vRestoreContextOfFirstTask();
+		}
+		break;
+
+		#if( configENABLE_MPU == 1 )
+			case portSVC_RAISE_PRIVILEGE:
+			{
+				/* Only raise the privilege, if the svc was raised from any of
+				 * the system calls. */
+				if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&
+					ulPC <= ( uint32_t ) __syscalls_flash_end__ )
+				{
+					vRaisePrivilege();
+				}
+			}
+			break;
+		#endif /* configENABLE_MPU */
+
+		default:
+		{
+			/* Incorrect SVC call. */
+			configASSERT( pdFALSE );
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */
+#else
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) /* PRIVILEGED_FUNCTION */
+#endif /* configENABLE_MPU */
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	 * interrupt. */
+	#if( portPRELOAD_REGISTERS == 0 )
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack -= 5;											/* R12, R3, R2 and R1. */
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack -= 9;											/* R11..R4, EXC_RETURN. */
+		*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#else /* portPRELOAD_REGISTERS */
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x12121212UL;				/* R12 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x03030303UL;				/* R3 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x02020202UL;				/* R2 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x01010101UL;				/* R1 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x11111111UL;				/* R11 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x10101010UL;				/* R10 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x09090909UL;				/* R09 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x08080808UL;				/* R08 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x07070707UL;				/* R07 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x06060606UL;				/* R06 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x05050505UL;				/* R05 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x04040404UL;				/* R04 */
+		pxTopOfStack--;
+		*pxTopOfStack = portINITIAL_EXC_RETURN;						/* EXC_RETURN */
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#endif /* portPRELOAD_REGISTERS */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+	*( portNVIC_SYSPRI2 ) |= portNVIC_PENDSV_PRI;
+	*( portNVIC_SYSPRI2 ) |= portNVIC_SYSTICK_PRI;
+
+	#if( configENABLE_MPU == 1 )
+	{
+		/* Setup the Memory Protection Unit (MPU). */
+		prvSetupMPU();
+	}
+	#endif /* configENABLE_MPU */
+
+	/* Start the timer that generates the tick ISR. Interrupts are disabled
+	 * here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialize the critical nesting count ready for the first task. */
+	ulCriticalNesting = 0;
+
+	/* Start the first task. */
+	vStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing. Call the task
+	 * exit error function to prevent compiler warnings about a static function
+	 * not being called in the case that the application writer overrides this
+	 * functionality by defining configTASK_RETURN_ADDRESS. Call
+	 * vTaskSwitchContext() so link time optimization does not remove the
+	 * symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Not implemented in ports where there is nothing to return to.
+	 * Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+	{
+	uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber;
+	int32_t lIndex = 0;
+
+		/* Setup MAIR0. */
+		xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+		xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+		/* This function is called automatically when the task is created - in
+		 * which case the stack region parameters will be valid.  At all other
+		 * times the stack parameters will not be valid and it is assumed that
+		 * the stack region has already been configured. */
+		if( ulStackDepth > 0 )
+		{
+			/* Define the region that allows access to the stack. */
+			ulRegionStartAddress = ( ( uint32_t ) pxBottomOfStack ) & portMPU_RBAR_ADDRESS_MASK;
+			ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1;
+			ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRBAR =	( ulRegionStartAddress ) |
+															( portMPU_REGION_NON_SHAREABLE ) |
+															( portMPU_REGION_READ_WRITE ) |
+															( portMPU_REGION_EXECUTE_NEVER );
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRLAR =	( ulRegionEndAddress ) |
+															( portMPU_RLAR_ATTR_INDEX0 ) |
+															( portMPU_RLAR_REGION_ENABLE );
+		}
+
+		/* User supplied configurable regions. */
+		for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ )
+		{
+			/* If xRegions is NULL i.e. the task has not specified any MPU
+			 * region, the else part ensures that all the configurable MPU
+			 * regions are invalidated. */
+			if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) )
+			{
+				/* Translate the generic region definition contained in xRegions
+				 * into the ARMv8 specific MPU settings that are then stored in
+				 * xMPUSettings. */
+				ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK;
+				ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1;
+				ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+				/* Start address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR =	( ulRegionStartAddress ) |
+																			( portMPU_REGION_NON_SHAREABLE );
+
+				/* RO/RW. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY );
+				}
+				else
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE );
+				}
+
+				/* XN. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER );
+				}
+
+				/* End Address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR =	( ulRegionEndAddress ) |
+																			( portMPU_RLAR_REGION_ENABLE );
+
+				/* Normal memory/ Device memory. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 )
+				{
+					/* Attr1 in MAIR0 is configured as device memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1;
+				}
+				else
+				{
+					/* Attr1 in MAIR0 is configured as normal memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0;
+				}
+			}
+			else
+			{
+				/* Invalidate the region. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL;
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL;
+			}
+
+			lIndex++;
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. Interrupt Program
+	 * Status Register (IPSR) holds the exception number of the currently-executing
+	 * exception or zero for Thread mode.*/
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23_NTZ/non_secure/portasm.c

@@ -0,0 +1,366 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION
+ * is defined correctly and privileged functions are placed in correct sections. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Portasm includes. */
+#include "portasm.h"
+
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the
+ * header files. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#if( configENABLE_FPU == 1 )
+	#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
+#endif
+
+void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"													\n"
+	"	ldr  r2, pxCurrentTCBConst2						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr  r1, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr  r0, [r1]									\n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r3, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r4, #1										\n" /* r4 = 1. */
+	"	bics r3, r4										\n" /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */
+	"	str r3, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */
+	"	ldr  r4, [r1]									\n" /* r4 = *r1 i.e. r4 = MAIR0. */
+	"	ldr  r2, xMAIR0Const2							\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str  r4, [r2]									\n" /* Program MAIR0. */
+	"	ldr  r2, xRNRConst2								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
+	"	movs r4, #4										\n" /* r4 = 4. */
+	"	str  r4, [r2]									\n" /* Program RNR = 4. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read first set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst2							\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write first set of RBAR/RLAR registers. */
+	"	movs r4, #5										\n" /* r4 = 5. */
+	"	str  r4, [r2]									\n" /* Program RNR = 5. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read second set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst2							\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write second set of RBAR/RLAR registers. */
+	"	movs r4, #6										\n" /* r4 = 6. */
+	"	str  r4, [r2]									\n" /* Program RNR = 6. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read third set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst2							\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write third set of RBAR/RLAR registers. */
+	"	movs r4, #7										\n" /* r4 = 7. */
+	"	str  r4, [r2]									\n" /* Program RNR = 7. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read fourth set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst2							\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write fourth set of RBAR/RLAR registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r3, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r4, #1										\n" /* r4 = 1. */
+	"	orrs r3, r4										\n" /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */
+	"	str r3, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldm  r0!, {r1-r3}								\n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */
+	"	msr  psplim, r1									\n" /* Set this task's PSPLIM value. */
+	"	msr  control, r2								\n" /* Set this task's CONTROL value. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r3											\n" /* Finally, branch to EXC_RETURN. */
+	#else /* configENABLE_MPU */
+	"	ldm  r0!, {r1-r2}								\n" /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */
+	"	msr  psplim, r1									\n" /* Set this task's PSPLIM value. */
+	"	movs r1, #2										\n" /* r1 = 2. */
+	"	msr  CONTROL, r1								\n" /* Switch to use PSP in the thread mode. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r2											\n" /* Finally, branch to EXC_RETURN. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst2: .word 0xe000ed94					\n"
+	"xMAIR0Const2: .word 0xe000edc0						\n"
+	"xRNRConst2: .word 0xe000ed98						\n"
+	"xRBARConst2: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	);
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	movs r1, #1										\n" /* r1 = 1. */
+	"	tst r0, r1										\n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */
+	"	beq running_privileged							\n" /* If the result of previous AND operation was 0, branch. */
+	"	movs r0, #0										\n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+	"	bx lr											\n" /* Return. */
+	" running_privileged:								\n"
+	"	movs r0, #1										\n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+	"	bx lr											\n" /* Return. */
+	"													\n"
+	"	.align 4										\n"
+	::: "r0", "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	 __asm volatile
+	(
+	"	mrs  r0, control								\n" /* Read the CONTROL register. */
+	"	movs r1, #1										\n" /* r1 = 1. */
+	"	bics r0, r1										\n" /* Clear the bit 0. */
+	"	msr  control, r0								\n" /* Write back the new CONTROL value. */
+	"	bx lr											\n" /* Return to the caller. */
+	::: "r0", "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	movs r1, #1										\n" /* r1 = 1. */
+	"	orrs r0, r1										\n" /* r0 = r0 | r1. */
+	"	msr control, r0									\n" /* CONTROL = r0. */
+	"	bx lr											\n" /* Return to the caller. */
+	:::"r0", "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	ldr r0, xVTORConst								\n" /* Use the NVIC offset register to locate the stack. */
+	"	ldr r0, [r0]									\n" /* Read the VTOR register which gives the address of vector table. */
+	"	ldr r0, [r0]									\n" /* The first entry in vector table is stack pointer. */
+	"	msr msp, r0										\n" /* Set the MSP back to the start of the stack. */
+	"	cpsie i											\n" /* Globally enable interrupts. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	svc %0											\n" /* System call to start the first task. */
+	"	nop												\n"
+	"													\n"
+	"   .align 4										\n"
+	"xVTORConst: .word 0xe000ed08						\n"
+	:: "i" ( portSVC_START_SCHEDULER ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	mrs r0, PRIMASK									\n"
+	"	cpsid i											\n"
+	"	bx lr											\n"
+	::: "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	msr PRIMASK, r0									\n"
+	"	bx lr											\n"
+	::: "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"													\n"
+	"	mrs r0, psp										\n" /* Read PSP in r0. */
+	"	ldr r2, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r1, [r2]									\n" /* Read pxCurrentTCB. */
+	#if( configENABLE_MPU == 1 )
+	"	subs r0, r0, #44								\n" /* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */
+	"	str r0, [r1]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r1, psplim									\n" /* r1 = PSPLIM. */
+	"	mrs r2, control									\n" /* r2 = CONTROL. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmia r0!, {r1-r7}								\n" /* Store on the stack - PSPLIM, CONTROL, LR and low registers that are not automatically saved. */
+	"	mov r4, r8										\n" /* r4 = r8. */
+	"	mov r5, r9										\n" /* r5 = r9. */
+	"	mov r6, r10										\n" /* r6 = r10. */
+	"	mov r7, r11										\n" /* r7 = r11. */
+	"	stmia r0!, {r4-r7}								\n" /* Store the high registers that are not saved automatically. */
+	#else /* configENABLE_MPU */
+	"	subs r0, r0, #40								\n" /* Make space for PSPLIM, LR and the remaining registers on the stack. */
+	"	str r0, [r1]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmia r0!, {r2-r7}								\n" /* Store on the stack - PSPLIM, LR and low registers that are not automatically saved. */
+	"	mov r4, r8										\n" /* r4 = r8. */
+	"	mov r5, r9										\n" /* r5 = r9. */
+	"	mov r6, r10										\n" /* r6 = r10. */
+	"	mov r7, r11										\n" /* r7 = r11. */
+	"	stmia r0!, {r4-r7}								\n" /* Store the high registers that are not saved automatically. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	cpsid i											\n"
+	"	bl vTaskSwitchContext							\n"
+	"	cpsie i											\n"
+	"													\n"
+	"	ldr r2, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r1, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr r0, [r1]									\n" /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r3, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r4, #1										\n" /* r4 = 1. */
+	"	bics r3, r4										\n" /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */
+	"	str r3, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */
+	"	ldr  r4, [r1]									\n" /* r4 = *r1 i.e. r4 = MAIR0. */
+	"	ldr  r2, xMAIR0Const							\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str  r4, [r2]									\n" /* Program MAIR0. */
+	"	ldr  r2, xRNRConst								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
+	"	movs r4, #4										\n" /* r4 = 4. */
+	"	str  r4, [r2]									\n" /* Program RNR = 4. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read first set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst								\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write first set of RBAR/RLAR registers. */
+	"	movs r4, #5										\n" /* r4 = 5. */
+	"	str  r4, [r2]									\n" /* Program RNR = 5. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read second set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst								\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write second set of RBAR/RLAR registers. */
+	"	movs r4, #6										\n" /* r4 = 6. */
+	"	str  r4, [r2]									\n" /* Program RNR = 6. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read third set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst								\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write third set of RBAR/RLAR registers. */
+	"	movs r4, #7										\n" /* r4 = 7. */
+	"	str  r4, [r2]									\n" /* Program RNR = 7. */
+	"	ldmia r1!, {r5,r6}								\n" /* Read fourth set of RBAR/RLAR from TCB. */
+	"	ldr  r3, xRBARConst								\n" /* r3 = 0xe000ed9c [Location of RBAR]. */
+	"	stmia r3!, {r5,r6}								\n" /* Write fourth set of RBAR/RLAR registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r3, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	movs r4, #1										\n" /* r4 = 1. */
+	"	orrs r3, r4										\n" /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */
+	"	str r3, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	adds r0, r0, #28								\n" /* Move to the high registers. */
+	"	ldmia r0!, {r4-r7}								\n" /* Restore the high registers that are not automatically restored. */
+	"	mov r8, r4										\n" /* r8 = r4. */
+	"	mov r9, r5										\n" /* r9 = r5. */
+	"	mov r10, r6										\n" /* r10 = r6. */
+	"	mov r11, r7										\n" /* r11 = r7. */
+	"	msr psp, r0										\n" /* Remember the new top of stack for the task. */
+	"	subs r0, r0, #44								\n" /* Move to the starting of the saved context. */
+	"	ldmia r0!, {r1-r7}								\n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r7 restored. */
+	"	msr psplim, r1									\n" /* Restore the PSPLIM register value for the task. */
+	"	msr control, r2									\n" /* Restore the CONTROL register value for the task. */
+	"	bx r3											\n"
+	#else /* configENABLE_MPU */
+	"	adds r0, r0, #24								\n" /* Move to the high registers. */
+	"	ldmia r0!, {r4-r7}								\n" /* Restore the high registers that are not automatically restored. */
+	"	mov r8, r4										\n" /* r8 = r4. */
+	"	mov r9, r5										\n" /* r9 = r5. */
+	"	mov r10, r6										\n" /* r10 = r6. */
+	"	mov r11, r7										\n" /* r11 = r7. */
+	"	msr psp, r0										\n" /* Remember the new top of stack for the task. */
+	"	subs r0, r0, #40								\n" /* Move to the starting of the saved context. */
+	"	ldmia r0!, {r2-r7}								\n" /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r7 restored. */
+	"	msr psplim, r2									\n" /* Restore the PSPLIM register value for the task. */
+	"	bx r3											\n"
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB				\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst: .word 0xe000ed94					\n"
+	"xMAIR0Const: .word 0xe000edc0						\n"
+	"xRNRConst: .word 0xe000ed98						\n"
+	"xRBARConst: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	);
+}
+/*-----------------------------------------------------------*/
+
+void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	movs r0, #4										\n"
+	"	mov r1, lr										\n"
+	"	tst r0, r1										\n"
+	"	beq stacking_used_msp							\n"
+	"	mrs r0, psp										\n"
+	"	ldr r2, svchandler_address_const				\n"
+	"	bx r2											\n"
+	" stacking_used_msp:								\n"
+	"	mrs r0, msp										\n"
+	"	ldr r2, svchandler_address_const				\n"
+	"	bx r2											\n"
+	"													\n"
+	"	.align 4										\n"
+	"svchandler_address_const: .word vPortSVCHandler_C	\n"
+	);
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23_NTZ/non_secure/portasm.h

@@ -0,0 +1,113 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __PORT_ASM_H__
+#define __PORT_ASM_H__
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/**
+ * @brief Restore the context of the first task so that the first task starts
+ * executing.
+ */
+void vRestoreContextOfFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Raises the privilege level by clearing the bit 0 of the CONTROL
+ * register.
+ *
+ * @note This is a privileged function and should only be called from the kenrel
+ * code.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vResetPrivilege( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Starts the first task.
+ */
+void vStartFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Disables interrupts.
+ */
+uint32_t ulSetInterruptMask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enables interrupts.
+ */
+void vClearInterruptMask( uint32_t ulMask ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief PendSV Exception handler.
+ */
+void PendSV_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SVC Handler.
+ */
+void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Allocate a Secure context for the calling task.
+ *
+ * @param[in] ulSecureStackSize The size of the stack to be allocated on the
+ * secure side for the calling task.
+ */
+void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__ (( naked ));
+
+/**
+ * @brief Free the task's secure context.
+ *
+ * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task.
+ */
+void vPortFreeSecureContext( uint32_t *pulTCB ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+#endif /* __PORT_ASM_H__ */

portable/GCC/ARM_CM23_NTZ/non_secure/portmacro.h

@@ -0,0 +1,301 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*------------------------------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *------------------------------------------------------------------------------
+ */
+
+#ifndef configENABLE_FPU
+	#error configENABLE_FPU must be defined in FreeRTOSConfig.h.  Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU.
+#endif /* configENABLE_FPU */
+
+#ifndef configENABLE_MPU
+	#error configENABLE_MPU must be defined in FreeRTOSConfig.h.  Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU.
+#endif /* configENABLE_MPU */
+
+#ifndef configENABLE_TRUSTZONE
+	#error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h.  Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone.
+#endif /* configENABLE_TRUSTZONE */
+
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Type definitions.
+ */
+#define portCHAR											char
+#define portFLOAT											float
+#define portDOUBLE											double
+#define portLONG											long
+#define portSHORT											short
+#define portSTACK_TYPE										uint32_t
+#define portBASE_TYPE										long
+
+typedef portSTACK_TYPE										StackType_t;
+typedef long												BaseType_t;
+typedef unsigned long										UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	 * not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC							1
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * Architecture specifics.
+ */
+#define portARCH_NAME										"Cortex-M23"
+#define portSTACK_GROWTH									( -1 )
+#define portTICK_PERIOD_MS									( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT									8
+#define portNOP()
+#define portINLINE											__inline
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE								inline __attribute__(( always_inline ))
+#endif
+#define portHAS_STACK_OVERFLOW_CHECKING						1
+#define portDONT_DISCARD									__attribute__(( used ))
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Extern declarations.
+ */
+extern BaseType_t xPortIsInsideInterrupt( void );
+
+extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
+
+extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
+extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
+
+extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
+	extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
+#endif /* configENABLE_TRUSTZONE */
+
+#if( configENABLE_MPU == 1 )
+	extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
+	extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief MPU specific constants.
+ */
+#if( configENABLE_MPU == 1 )
+	#define portUSING_MPU_WRAPPERS							1
+	#define portPRIVILEGE_BIT								( 0x80000000UL )
+#else
+	#define portPRIVILEGE_BIT								( 0x0UL )
+#endif /* configENABLE_MPU */
+
+
+/* MPU regions. */
+#define portPRIVILEGED_FLASH_REGION							( 0UL )
+#define portUNPRIVILEGED_FLASH_REGION						( 1UL )
+#define portUNPRIVILEGED_SYSCALLS_REGION					( 2UL )
+#define portPRIVILEGED_RAM_REGION							( 3UL )
+#define portSTACK_REGION									( 4UL )
+#define portFIRST_CONFIGURABLE_REGION						( 5UL )
+#define portLAST_CONFIGURABLE_REGION						( 7UL )
+#define portNUM_CONFIGURABLE_REGIONS						( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
+#define portTOTAL_NUM_REGIONS								( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
+
+/* Device memory attributes used in MPU_MAIR registers.
+ *
+ * 8-bit values encoded as follows:
+ *  Bit[7:4] - 0000 - Device Memory
+ *  Bit[3:2] - 00 --> Device-nGnRnE
+ *				01 --> Device-nGnRE
+ *				10 --> Device-nGRE
+ *				11 --> Device-GRE
+ *  Bit[1:0] - 00, Reserved.
+ */
+#define portMPU_DEVICE_MEMORY_nGnRnE						( 0x00 ) /* 0000 0000 */
+#define portMPU_DEVICE_MEMORY_nGnRE							( 0x04 ) /* 0000 0100 */
+#define portMPU_DEVICE_MEMORY_nGRE							( 0x08 ) /* 0000 1000 */
+#define portMPU_DEVICE_MEMORY_GRE							( 0x0C ) /* 0000 1100 */
+
+/* Normal memory attributes used in MPU_MAIR registers. */
+#define portMPU_NORMAL_MEMORY_NON_CACHEABLE					( 0x44 ) /* Non-cacheable. */
+#define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE			( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
+
+/* Attributes used in MPU_RBAR registers. */
+#define portMPU_REGION_NON_SHAREABLE						( 0UL << 3UL )
+#define portMPU_REGION_INNER_SHAREABLE						( 1UL << 3UL )
+#define portMPU_REGION_OUTER_SHAREABLE						( 2UL << 3UL )
+
+#define portMPU_REGION_PRIVILEGED_READ_WRITE				( 0UL << 1UL )
+#define portMPU_REGION_READ_WRITE							( 1UL << 1UL )
+#define portMPU_REGION_PRIVILEGED_READ_ONLY					( 2UL << 1UL )
+#define portMPU_REGION_READ_ONLY							( 3UL << 1UL )
+
+#define portMPU_REGION_EXECUTE_NEVER						( 1UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Settings to define an MPU region.
+ */
+typedef struct MPURegionSettings
+{
+	uint32_t ulRBAR;	/**< RBAR for the region. */
+	uint32_t ulRLAR;	/**< RLAR for the region. */
+} MPURegionSettings_t;
+
+/**
+ * @brief MPU settings as stored in the TCB.
+ */
+typedef struct MPU_SETTINGS
+{
+	uint32_t ulMAIR0;	/**< MAIR0 for the task containing attributes for all the 4 per task regions. */
+	MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
+} xMPU_SETTINGS;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief SVC numbers.
+ */
+#define portSVC_ALLOCATE_SECURE_CONTEXT						0
+#define portSVC_FREE_SECURE_CONTEXT							1
+#define portSVC_START_SCHEDULER								2
+#define portSVC_RAISE_PRIVILEGE								3
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Scheduler utilities.
+ */
+#define portYIELD()											vPortYield()
+#define portNVIC_INT_CTRL_REG								( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT								( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired )			if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x )								portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Critical section management.
+ */
+#define portSET_INTERRUPT_MASK_FROM_ISR()					ulSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)				vClearInterruptMask( x )
+#define portDISABLE_INTERRUPTS()							__asm volatile ( " cpsid i " ::: "memory" )
+#define portENABLE_INTERRUPTS()								__asm volatile ( " cpsie i " ::: "memory" )
+#define portENTER_CRITICAL()								vPortEnterCritical()
+#define portEXIT_CRITICAL()									vPortExitCritical()
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Task function macros as described on the FreeRTOS.org WEB site.
+ */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )		void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Allocate a secure context for the task.
+	 *
+	 * Tasks are not created with a secure context. Any task that is going to call
+	 * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
+	 * secure context before it calls any secure function.
+	 *
+	 * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
+	 */
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )	vPortAllocateSecureContext( ulSecureStackSize )
+
+	/**
+	 * @brief Called when a task is deleted to delete the task's secure context,
+	 * if it has one.
+	 *
+	 * @param[in] pxTCB The TCB of the task being deleted.
+	 */
+	#define portCLEAN_UP_TCB( pxTCB )							vPortFreeSecureContext( ( uint32_t * ) pxTCB )
+#else
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )
+	#define portCLEAN_UP_TCB( pxTCB )
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Checks whether or not the processor is privileged.
+	 *
+	 * @return 1 if the processor is already privileged, 0 otherwise.
+	 */
+	#define portIS_PRIVILEGED()									xIsPrivileged()
+
+	/**
+	 * @brief Raise an SVC request to raise privilege.
+	 *
+	 * The SVC handler checks that the SVC was raised from a system call and only
+	 * then it raises the privilege. If this is called from any other place,
+	 * the privilege is not raised.
+	 */
+	#define portRAISE_PRIVILEGE()								__asm volatile ( "svc %0 \n" :: "i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+
+	/**
+	 * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+	 * register.
+	 */
+	#define portRESET_PRIVILEGE()								vResetPrivilege()
+#else
+	#define portIS_PRIVILEGED()
+	#define portRAISE_PRIVILEGE()
+	#define portRESET_PRIVILEGE()
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Barriers.
+ */
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+/*-----------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

portable/GCC/ARM_CM3/port.c

@@ -0,0 +1,717 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM3 port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
+defined.  The value should also ensure backward compatibility.
+FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
+#ifndef configKERNEL_INTERRUPT_PRIORITY
+	#define configKERNEL_INTERRUPT_PRIORITY 255
+#endif
+
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+	/* Ensure the SysTick is clocked at the same frequency as the core. */
+	#define portNVIC_SYSTICK_CLK_BIT	( 1UL << 2UL )
+#else
+	/* The way the SysTick is clocked is not modified in case it is not the same
+	as the core. */
+	#define portNVIC_SYSTICK_CLK_BIT	( 0 )
+#endif
+
+/* Constants required to manipulate the core.  Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG				( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
+#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
+
+#define portNVIC_PENDSV_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
+
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK					( 0xFFUL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR					( 0x01000000UL )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
+/* For strict compliance with the Cortex-M spec the task start address should
+have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
+#define portSTART_ADDRESS_MASK				( ( StackType_t ) 0xfffffffeUL )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/*
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortSysTickHandler( void );
+void vPortSVCHandler( void ) __attribute__ (( naked ));
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if( configASSERT_DEFINED == 1 )
+	 static uint8_t ucMaxSysCallPriority = 0;
+	 static uint32_t ulMaxPRIGROUPValue = 0;
+	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	interrupt. */
+	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
+	pxTopOfStack--;
+	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0UL;
+
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		started to remove a compiler warning about the function being defined
+		but never called.  ulDummy is used purely to quieten other warnings
+		about code appearing after this function is called - making ulDummy
+		volatile makes the compiler think the function could return and
+		therefore not output an 'unreachable code' warning for code that appears
+		after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+	__asm volatile (
+					"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
+					"	ldr r1, [r3]					\n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
+					"	ldr r0, [r1]					\n" /* The first item in pxCurrentTCB is the task top of stack. */
+					"	ldmia r0!, {r4-r11}				\n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
+					"	msr psp, r0						\n" /* Restore the task stack pointer. */
+					"	isb								\n"
+					"	mov r0, #0 						\n"
+					"	msr	basepri, r0					\n"
+					"	orr r14, #0xd					\n"
+					"	bx r14							\n"
+					"									\n"
+					"	.align 4						\n"
+					"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+				);
+}
+/*-----------------------------------------------------------*/
+
+static void prvPortStartFirstTask( void )
+{
+	__asm volatile(
+					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
+					" ldr r0, [r0] 			\n"
+					" ldr r0, [r0] 			\n"
+					" msr msp, r0			\n" /* Set the msp back to the start of the stack. */
+					" cpsie i				\n" /* Globally enable interrupts. */
+					" cpsie f				\n"
+					" dsb					\n"
+					" isb					\n"
+					" svc 0					\n" /* System call to start first task. */
+					" nop					\n"
+				);
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
+	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+		}
+
+		#ifdef __NVIC_PRIO_BITS
+		{
+			/* Check the CMSIS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
+		}
+		#endif
+
+		#ifdef configPRIO_BITS
+		{
+			/* Check the FreeRTOS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
+		}
+		#endif
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialise the critical nesting count ready for the first task. */
+	uxCriticalNesting = 0;
+
+	/* Start the first task. */
+	prvPortStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS.  Call
+	vTaskSwitchContext() so link time optimisation does not remove the
+	symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	portDISABLE_INTERRUPTS();
+	uxCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( uxCriticalNesting == 1 )
+	{
+		configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	configASSERT( uxCriticalNesting );
+	uxCriticalNesting--;
+	if( uxCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+	/* This is a naked function. */
+
+	__asm volatile
+	(
+	"	mrs r0, psp							\n"
+	"	isb									\n"
+	"										\n"
+	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
+	"	ldr	r2, [r3]						\n"
+	"										\n"
+	"	stmdb r0!, {r4-r11}					\n" /* Save the remaining registers. */
+	"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
+	"										\n"
+	"	stmdb sp!, {r3, r14}				\n"
+	"	mov r0, %0							\n"
+	"	msr basepri, r0						\n"
+	"	bl vTaskSwitchContext				\n"
+	"	mov r0, #0							\n"
+	"	msr basepri, r0						\n"
+	"	ldmia sp!, {r3, r14}				\n"
+	"										\n" /* Restore the context, including the critical nesting count. */
+	"	ldr r1, [r3]						\n"
+	"	ldr r0, [r1]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
+	"	ldmia r0!, {r4-r11}					\n" /* Pop the registers. */
+	"	msr psp, r0							\n"
+	"	isb									\n"
+	"	bx r14								\n"
+	"										\n"
+	"	.align 4							\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB	\n"
+	::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+	);
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
+	portDISABLE_INTERRUPTS();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
+	}
+	portENABLE_INTERRUPTS();
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TICKLESS_IDLE == 1 )
+
+	__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+	{
+	uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	TickType_t xModifiableIdleTime;
+
+		/* Make sure the SysTick reload value does not overflow the counter. */
+		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+		{
+			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+		}
+
+		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
+		is accounted for as best it can be, but using the tickless mode will
+		inevitably result in some tiny drift of the time maintained by the
+		kernel with respect to calendar time. */
+		portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
+		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" ::: "memory" );
+		__asm volatile( "dsb" );
+		__asm volatile( "isb" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+		else
+		{
+			/* Set the new reload value. */
+			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+			/* Clear the SysTick count flag and set the count value back to
+			zero. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
+			{
+				__asm volatile( "dsb" ::: "memory" );
+				__asm volatile( "wfi" );
+				__asm volatile( "isb" );
+			}
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+			/* Re-enable interrupts to allow the interrupt that brought the MCU
+			out of sleep mode to execute immediately.  see comments above
+			__disable_interrupt() call above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable interrupts again because the clock is about to be stopped
+			and interrupts that execute while the clock is stopped will increase
+			any slippage between the time maintained by the RTOS and calendar
+			time. */
+			__asm volatile( "cpsid i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable the SysTick clock without reading the
+			portNVIC_SYSTICK_CTRL_REG register to ensure the
+			portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
+			the time the SysTick is stopped for is accounted for as best it can
+			be, but using the tickless mode will inevitably result in some tiny
+			drift of the time maintained by the kernel with respect to calendar
+			time*/
+			portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
+
+			/* Determine if the SysTick clock has already counted to zero and
+			been set back to the current reload value (the reload back being
+			correct for the entire expected idle time) or if the SysTick is yet
+			to count to zero (in which case an interrupt other than the SysTick
+			must have brought the system out of sleep mode). */
+			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+			{
+				uint32_t ulCalculatedLoadValue;
+
+				/* The tick interrupt is already pending, and the SysTick count
+				reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+
+				/* As the pending tick will be processed as soon as this
+				function exits, the tick value maintained by the tick is stepped
+				forward by one less than the time spent waiting. */
+				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+			}
+			else
+			{
+				/* Something other than the tick interrupt ended the sleep.
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+				/* How many complete tick periods passed while the processor
+				was waiting? */
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+				/* The reload value is set to whatever fraction of a single tick
+				period remains. */
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+			}
+
+			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+			value. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+			vTaskStepTick( ulCompleteTickPeriods );
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Exit with interrupts enabled. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+	}
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+	/* Calculate the constants required to configure the tick interrupt. */
+	#if( configUSE_TICKLESS_IDLE == 1 )
+	{
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+	}
+	#endif /* configUSE_TICKLESS_IDLE */
+
+	/* Stop and clear the SysTick. */
+	portNVIC_SYSTICK_CTRL_REG = 0UL;
+	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	uint32_t ulCurrentInterrupt;
+	uint8_t ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredictable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

portable/GCC/ARM_CM3/portmacro.h

@@ -0,0 +1,245 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+/*-----------------------------------------------------------*/
+
+/* Scheduler utilities. */
+#define portYIELD() 															\
+{																				\
+	/* Set a PendSV to request a context switch. */								\
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;								\
+																				\
+	/* Barriers are normally not required but do ensure the code is completely	\
+	within the specified behaviour for the architecture. */						\
+	__asm volatile( "dsb" ::: "memory" );										\
+	__asm volatile( "isb" );													\
+}
+
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortSetBASEPRI(x)
+#define portDISABLE_INTERRUPTS()				vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS()					vPortSetBASEPRI(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+	{
+	uint8_t ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#define portINLINE	__inline
+
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE inline __attribute__(( always_inline))
+#endif
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. */
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mov %0, %1												\n" \
+		"	msr basepri, %0											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mrs %0, basepri											\n" \
+		"	mov %1, %2												\n" \
+		"	msr basepri, %1											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return ulOriginalBASEPRI;
+}
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+{
+	__asm volatile
+	(
+		"	msr basepri, %0	" :: "r" ( ulNewMaskValue ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CM33/non_secure/port.c

@@ -0,0 +1,933 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers. That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/* Portasm includes. */
+#include "portasm.h"
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/* Secure components includes. */
+	#include "secure_context.h"
+	#include "secure_init.h"
+#endif /* configENABLE_TRUSTZONE */
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/**
+ * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only
+ * i.e. the processor boots as secure and never jumps to the non-secure side.
+ * The Trust Zone support in the port must be disabled in order to run FreeRTOS
+ * on the secure side. The following are the valid configuration seetings:
+ *
+ * 1. Run FreeRTOS on the Secure Side:
+ *		configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0
+ *
+ * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1
+ *
+ * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0
+ */
+#if( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) )
+	#error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side.
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the NVIC.
+ */
+#define portNVIC_SYSTICK_CTRL				( ( volatile uint32_t * ) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD				( ( volatile uint32_t * ) 0xe000e014 )
+#define portNVIC_SYSTICK_CURRENT_VALUE		( ( volatile uint32_t * ) 0xe000e018 )
+#define portNVIC_INT_CTRL					( ( volatile uint32_t * ) 0xe000ed04 )
+#define portNVIC_SYSPRI2					( ( volatile uint32_t * ) 0xe000ed20 )
+#define portNVIC_SYSTICK_CLK				( 0x00000004 )
+#define portNVIC_SYSTICK_INT				( 0x00000002 )
+#define portNVIC_SYSTICK_ENABLE				( 0x00000001 )
+#define portNVIC_PENDSVSET					( 0x10000000 )
+#define portMIN_INTERRUPT_PRIORITY			( 255UL )
+#define portNVIC_PENDSV_PRI					( portMIN_INTERRUPT_PRIORITY << 16UL )
+#define portNVIC_SYSTICK_PRI				( portMIN_INTERRUPT_PRIORITY << 24UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the SCB.
+ */
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG	( * ( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_MEM_FAULT_ENABLE			( 1UL << 16UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the FPU.
+ */
+#define portCPACR							( ( volatile uint32_t * ) 0xe000ed88 )	/* Coprocessor Access Control Register. */
+#define portCPACR_CP10_VALUE				( 3UL )
+#define portCPACR_CP11_VALUE				portCPACR_CP10_VALUE
+#define portCPACR_CP10_POS					( 20UL )
+#define portCPACR_CP11_POS					( 22UL )
+
+#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 )	/* Floating Point Context Control Register. */
+#define portFPCCR_ASPEN_POS					( 31UL )
+#define portFPCCR_ASPEN_MASK				( 1UL << portFPCCR_ASPEN_POS )
+#define portFPCCR_LSPEN_POS					( 30UL )
+#define portFPCCR_LSPEN_MASK				( 1UL << portFPCCR_LSPEN_POS )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the MPU.
+ */
+#define portMPU_TYPE_REG					( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
+#define portMPU_CTRL_REG					( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
+#define portMPU_RNR_REG						( * ( ( volatile uint32_t * ) 0xe000ed98 ) )
+
+#define portMPU_RBAR_REG					( * ( ( volatile uint32_t * ) 0xe000ed9c ) )
+#define portMPU_RLAR_REG					( * ( ( volatile uint32_t * ) 0xe000eda0 ) )
+
+#define portMPU_RBAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda4 ) )
+#define portMPU_RLAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda8 ) )
+
+#define portMPU_RBAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edac ) )
+#define portMPU_RLAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edb0 ) )
+
+#define portMPU_RBAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb4 ) )
+#define portMPU_RLAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb8 ) )
+
+#define portMPU_MAIR0_REG					( * ( ( volatile uint32_t * ) 0xe000edc0 ) )
+#define portMPU_MAIR1_REG					( * ( ( volatile uint32_t * ) 0xe000edc4 ) )
+
+#define portMPU_RBAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+#define portMPU_RLAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+
+#define portMPU_MAIR_ATTR0_POS				( 0UL )
+#define portMPU_MAIR_ATTR0_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR1_POS				( 8UL )
+#define portMPU_MAIR_ATTR1_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR2_POS				( 16UL )
+#define portMPU_MAIR_ATTR2_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR3_POS				( 24UL )
+#define portMPU_MAIR_ATTR3_MASK				( 0xff000000 )
+
+#define portMPU_MAIR_ATTR4_POS				( 0UL )
+#define portMPU_MAIR_ATTR4_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR5_POS				( 8UL )
+#define portMPU_MAIR_ATTR5_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR6_POS				( 16UL )
+#define portMPU_MAIR_ATTR6_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR7_POS				( 24UL )
+#define portMPU_MAIR_ATTR7_MASK				( 0xff000000 )
+
+#define portMPU_RLAR_ATTR_INDEX0			( 0UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX1			( 1UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX2			( 2UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX3			( 3UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX4			( 4UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX5			( 5UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX6			( 6UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX7			( 7UL << 1UL )
+
+#define portMPU_RLAR_REGION_ENABLE			( 1UL )
+
+/* Enable privileged access to unmapped region. */
+#define portMPU_PRIV_BACKGROUND_ENABLE		( 1UL << 2UL )
+
+/* Enable MPU. */
+#define portMPU_ENABLE						( 1UL << 0UL )
+
+/* Expected value of the portMPU_TYPE register. */
+#define portEXPECTED_MPU_TYPE_VALUE			( 8UL << 8UL ) /* 8 regions, unified. */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to set up the initial stack.
+ */
+#define portINITIAL_XPSR					( 0x01000000 )
+
+#if( configRUN_FREERTOS_SECURE_ONLY == 1 )
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         FD
+	 * 1111 1111  1111 1111  1111 1111  1111 1101
+	 *
+	 * Bit[6] - 1 --> The exception was taken from the Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 1 --> The exception was taken to the Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xfffffffd )
+#else
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         BC
+	 * 1111 1111  1111 1111  1111 1111  1011 1100
+	 *
+	 * Bit[6] - 0 --> The exception was taken from the Non-Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 0 --> The exception was taken to the Non-Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xffffffbc )
+#endif /* configRUN_FREERTOS_SECURE_ONLY */
+
+/**
+ * @brief CONTROL register privileged bit mask.
+ *
+ * Bit[0] in CONTROL register tells the privilege:
+ *  Bit[0] = 0 ==> The task is privileged.
+ *  Bit[0] = 1 ==> The task is not privileged.
+ */
+#define portCONTROL_PRIVILEGED_MASK			( 1UL << 0UL )
+
+/**
+ * @brief Initial CONTROL register values.
+ */
+#define portINITIAL_CONTROL_UNPRIVILEGED	( 0x3 )
+#define portINITIAL_CONTROL_PRIVILEGED		( 0x2 )
+
+/**
+ * @brief Let the user override the pre-loading of the initial LR with the
+ * address of prvTaskExitError() in case it messes up unwinding of the stack
+ * in the debugger.
+ */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS			configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS			prvTaskExitError
+#endif
+
+/**
+ * @brief If portPRELOAD_REGISTERS then registers will be given an initial value
+ * when a task is created. This helps in debugging at the cost of code size.
+ */
+#define portPRELOAD_REGISTERS				1
+
+/**
+ * @brief A task is created without a secure context, and must call
+ * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes
+ * any secure calls.
+ */
+#define portNO_SECURE_CONTEXT				0
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Used to catch tasks that attempt to return from their implementing
+ * function.
+ */
+static void prvTaskExitError( void );
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Setup the Memory Protection Unit (MPU).
+	 */
+	static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_MPU */
+
+#if( configENABLE_FPU == 1 )
+	/**
+	 * @brief Setup the Floating Point Unit (FPU).
+	 */
+	static void prvSetupFPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_FPU */
+
+/**
+ * @brief Setup the timer to generate the tick interrupts.
+ *
+ * The implementation in this file is weak to allow application writers to
+ * change the timer used to generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether the current execution context is interrupt.
+ *
+ * @return pdTRUE if the current execution context is interrupt, pdFALSE
+ * otherwise.
+ */
+BaseType_t xPortIsInsideInterrupt( void );
+
+/**
+ * @brief Yield the processor.
+ */
+void vPortYield( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enter critical section.
+ */
+void vPortEnterCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Exit from critical section.
+ */
+void vPortExitCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SysTick handler.
+ */
+void SysTick_Handler( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief C part of SVC handler.
+ */
+portDONT_DISCARD void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) PRIVILEGED_FUNCTION;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Each task maintains its own interrupt status in the critical nesting
+ * variable.
+ */
+static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Saved as part of the task context to indicate which context the
+	 * task is using on the secure side.
+	 */
+	portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT;
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Stop and reset the SysTick. */
+	*( portNVIC_SYSTICK_CTRL ) = 0UL;
+	*( portNVIC_SYSTICK_CURRENT_VALUE ) = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	*( portNVIC_SYSTICK_LOAD ) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	*( portNVIC_SYSTICK_CTRL ) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0UL;
+
+	/* A function that implements a task must not exit or attempt to return to
+	 * its caller as there is nothing to return to. If a task wants to exit it
+	 * should instead call vTaskDelete( NULL ). Artificially force an assert()
+	 * to be triggered if configASSERT() is defined, then stop here so
+	 * application writers can catch the error. */
+	configASSERT( ulCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		 * started to remove a compiler warning about the function being
+		 * defined but never called.  ulDummy is used purely to quieten other
+		 * warnings about code appearing after this function is called - making
+		 * ulDummy volatile makes the compiler think the function could return
+		 * and therefore not output an 'unreachable code' warning for code that
+		 * appears after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __privileged_functions_start__;
+		extern uint32_t * __privileged_functions_end__;
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+		extern uint32_t * __unprivileged_flash_start__;
+		extern uint32_t * __unprivileged_flash_end__;
+		extern uint32_t * __privileged_sram_start__;
+		extern uint32_t * __privileged_sram_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __privileged_functions_start__[];
+		extern uint32_t __privileged_functions_end__[];
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+		extern uint32_t __unprivileged_flash_start__[];
+		extern uint32_t __unprivileged_flash_end__[];
+		extern uint32_t __privileged_sram_start__[];
+		extern uint32_t __privileged_sram_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+
+		/* Check that the MPU is present. */
+		if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
+		{
+			/* MAIR0 - Index 0. */
+			portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+			/* MAIR0 - Index 1. */
+			portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+			/* Setup privileged flash as Read Only so that privileged tasks can
+			 * read it but not modify. */
+			portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged flash as Read Only by both privileged and
+			 * unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged syscalls flash as Read Only by both privileged
+			 * and unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup RAM containing kernel data for privileged access only. */
+			portMPU_RNR_REG = portPRIVILEGED_RAM_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+								( portMPU_REGION_EXECUTE_NEVER );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Enable mem fault. */
+			portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE;
+
+			/* Enable MPU with privileged background access i.e. unmapped
+			 * regions have privileged access. */
+			portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE | portMPU_ENABLE );
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_FPU == 1 )
+	static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			/* Enable non-secure access to the FPU. */
+			SecureInit_EnableNSFPUAccess();
+		}
+		#endif /* configENABLE_TRUSTZONE */
+
+		/* CP10 = 11 ==> Full access to FPU i.e. both privileged and
+		 * unprivileged code should be able to access FPU. CP11 should be
+		 * programmed to the same value as CP10. */
+		*( portCPACR ) |=	(	( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) |
+								( portCPACR_CP11_VALUE << portCPACR_CP11_POS )
+							);
+
+		/* ASPEN = 1 ==> Hardware should automatically preserve floating point
+		 * context on exception entry and restore on exception return.
+		 * LSPEN = 1 ==> Enable lazy context save of FP state. */
+		*( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK );
+	}
+#endif /* configENABLE_FPU */
+/*-----------------------------------------------------------*/
+
+void vPortYield( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Set a PendSV to request a context switch. */
+	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	portDISABLE_INTERRUPTS();
+	ulCriticalNesting++;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	configASSERT( ulCriticalNesting );
+	ulCriticalNesting--;
+
+	if( ulCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
+{
+uint32_t ulPreviousMask;
+
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */
+{
+#if( configENABLE_MPU == 1 )
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+#endif /* configENABLE_MPU */
+
+uint32_t ulPC;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	uint32_t ulR0;
+	#if( configENABLE_MPU == 1 )
+		uint32_t ulControl, ulIsTaskPrivileged;
+	#endif /* configENABLE_MPU */
+#endif /* configENABLE_TRUSTZONE */
+uint8_t ucSVCNumber;
+
+	/* Register are stored on the stack in the following order - R0, R1, R2, R3,
+	 * R12, LR, PC, xPSR. */
+	ulPC = pulCallerStackAddress[ 6 ];
+	ucSVCNumber = ( ( uint8_t *) ulPC )[ -2 ];
+
+	switch( ucSVCNumber )
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+			case portSVC_ALLOCATE_SECURE_CONTEXT:
+			{
+				/* R0 contains the stack size passed as parameter to the
+				 * vPortAllocateSecureContext function. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				#if( configENABLE_MPU == 1 )
+				{
+					/* Read the CONTROL register value. */
+					__asm volatile ( "mrs %0, control"  : "=r" ( ulControl ) );
+
+					/* The task that raised the SVC is privileged if Bit[0]
+					 * in the CONTROL register is 0. */
+					ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
+
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged );
+				}
+				#else
+				{
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0 );
+				}
+				#endif /* configENABLE_MPU */
+
+				configASSERT( xSecureContext != NULL );
+				SecureContext_LoadContext( xSecureContext );
+			}
+			break;
+
+			case portSVC_FREE_SECURE_CONTEXT:
+			{
+				/* R0 contains the secure context handle to be freed. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				/* Free the secure context. */
+				SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 );
+			}
+			break;
+		#endif /* configENABLE_TRUSTZONE */
+
+		case portSVC_START_SCHEDULER:
+		{
+			#if( configENABLE_TRUSTZONE == 1 )
+			{
+				/* De-prioritize the non-secure exceptions so that the
+				 * non-secure pendSV runs at the lowest priority. */
+				SecureInit_DePrioritizeNSExceptions();
+
+				/* Initialize the secure context management system. */
+				SecureContext_Init();
+			}
+			#endif /* configENABLE_TRUSTZONE */
+
+			#if( configENABLE_FPU == 1 )
+			{
+				/* Setup the Floating Point Unit (FPU). */
+				prvSetupFPU();
+			}
+			#endif /* configENABLE_FPU */
+
+			/* Setup the context of the first task so that the first task starts
+			 * executing. */
+			vRestoreContextOfFirstTask();
+		}
+		break;
+
+		#if( configENABLE_MPU == 1 )
+			case portSVC_RAISE_PRIVILEGE:
+			{
+				/* Only raise the privilege, if the svc was raised from any of
+				 * the system calls. */
+				if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&
+					ulPC <= ( uint32_t ) __syscalls_flash_end__ )
+				{
+					vRaisePrivilege();
+				}
+			}
+			break;
+		#endif /* configENABLE_MPU */
+
+		default:
+		{
+			/* Incorrect SVC call. */
+			configASSERT( pdFALSE );
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */
+#else
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) /* PRIVILEGED_FUNCTION */
+#endif /* configENABLE_MPU */
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	 * interrupt. */
+	#if( portPRELOAD_REGISTERS == 0 )
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack -= 5;											/* R12, R3, R2 and R1. */
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack -= 9;											/* R11..R4, EXC_RETURN. */
+		*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#else /* portPRELOAD_REGISTERS */
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x12121212UL;				/* R12 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x03030303UL;				/* R3 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x02020202UL;				/* R2 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x01010101UL;				/* R1 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x11111111UL;				/* R11 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x10101010UL;				/* R10 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x09090909UL;				/* R09 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x08080808UL;				/* R08 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x07070707UL;				/* R07 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x06060606UL;				/* R06 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x05050505UL;				/* R05 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x04040404UL;				/* R04 */
+		pxTopOfStack--;
+		*pxTopOfStack = portINITIAL_EXC_RETURN;						/* EXC_RETURN */
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#endif /* portPRELOAD_REGISTERS */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+	*( portNVIC_SYSPRI2 ) |= portNVIC_PENDSV_PRI;
+	*( portNVIC_SYSPRI2 ) |= portNVIC_SYSTICK_PRI;
+
+	#if( configENABLE_MPU == 1 )
+	{
+		/* Setup the Memory Protection Unit (MPU). */
+		prvSetupMPU();
+	}
+	#endif /* configENABLE_MPU */
+
+	/* Start the timer that generates the tick ISR. Interrupts are disabled
+	 * here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialize the critical nesting count ready for the first task. */
+	ulCriticalNesting = 0;
+
+	/* Start the first task. */
+	vStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing. Call the task
+	 * exit error function to prevent compiler warnings about a static function
+	 * not being called in the case that the application writer overrides this
+	 * functionality by defining configTASK_RETURN_ADDRESS. Call
+	 * vTaskSwitchContext() so link time optimization does not remove the
+	 * symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Not implemented in ports where there is nothing to return to.
+	 * Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+	{
+	uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber;
+	int32_t lIndex = 0;
+
+		/* Setup MAIR0. */
+		xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+		xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+		/* This function is called automatically when the task is created - in
+		 * which case the stack region parameters will be valid.  At all other
+		 * times the stack parameters will not be valid and it is assumed that
+		 * the stack region has already been configured. */
+		if( ulStackDepth > 0 )
+		{
+			/* Define the region that allows access to the stack. */
+			ulRegionStartAddress = ( ( uint32_t ) pxBottomOfStack ) & portMPU_RBAR_ADDRESS_MASK;
+			ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1;
+			ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRBAR =	( ulRegionStartAddress ) |
+															( portMPU_REGION_NON_SHAREABLE ) |
+															( portMPU_REGION_READ_WRITE ) |
+															( portMPU_REGION_EXECUTE_NEVER );
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRLAR =	( ulRegionEndAddress ) |
+															( portMPU_RLAR_ATTR_INDEX0 ) |
+															( portMPU_RLAR_REGION_ENABLE );
+		}
+
+		/* User supplied configurable regions. */
+		for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ )
+		{
+			/* If xRegions is NULL i.e. the task has not specified any MPU
+			 * region, the else part ensures that all the configurable MPU
+			 * regions are invalidated. */
+			if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) )
+			{
+				/* Translate the generic region definition contained in xRegions
+				 * into the ARMv8 specific MPU settings that are then stored in
+				 * xMPUSettings. */
+				ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK;
+				ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1;
+				ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+				/* Start address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR =	( ulRegionStartAddress ) |
+																			( portMPU_REGION_NON_SHAREABLE );
+
+				/* RO/RW. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY );
+				}
+				else
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE );
+				}
+
+				/* XN. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER );
+				}
+
+				/* End Address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR =	( ulRegionEndAddress ) |
+																			( portMPU_RLAR_REGION_ENABLE );
+
+				/* Normal memory/ Device memory. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 )
+				{
+					/* Attr1 in MAIR0 is configured as device memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1;
+				}
+				else
+				{
+					/* Attr1 in MAIR0 is configured as normal memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0;
+				}
+			}
+			else
+			{
+				/* Invalidate the region. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL;
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL;
+			}
+
+			lIndex++;
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. Interrupt Program
+	 * Status Register (IPSR) holds the exception number of the currently-executing
+	 * exception or zero for Thread mode.*/
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/non_secure/portasm.c

@@ -0,0 +1,410 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION
+ * is defined correctly and privileged functions are placed in correct sections. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Portasm includes. */
+#include "portasm.h"
+
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the
+ * header files. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"													\n"
+	"	ldr  r2, pxCurrentTCBConst2						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr  r3, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr  r0, [r3]									\n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	bic r4, #1										\n" /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */
+	"	ldr  r4, [r3]									\n" /* r4 = *r3 i.e. r4 = MAIR0. */
+	"	ldr  r2, xMAIR0Const2							\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str  r4, [r2]									\n" /* Program MAIR0. */
+	"	ldr  r2, xRNRConst2								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	movs r4, #4										\n" /* r4 = 4. */
+	"	str  r4, [r2]									\n" /* Program RNR = 4. */
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
+	"	ldr  r2, xRBARConst2							\n" /* r2 = 0xe000ed9c [Location of RBAR]. */
+	"	ldmia r3!, {r4-r11}								\n" /* Read 4 set of RBAR/RLAR registers from TCB. */
+	"	stmia r2!, {r4-r11}								\n" /* Write 4 set of RBAR/RLAR registers using alias registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	orr r4, #1										\n" /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldm  r0!, {r1-r4}								\n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */
+	"	ldr  r5, xSecureContextConst2					\n"
+	"	str  r1, [r5]									\n" /* Set xSecureContext to this task's value for the same. */
+	"	msr  psplim, r2									\n" /* Set this task's PSPLIM value. */
+	"	msr  control, r3								\n" /* Set this task's CONTROL value. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r4											\n" /* Finally, branch to EXC_RETURN. */
+	#else /* configENABLE_MPU */
+	"	ldm  r0!, {r1-r3}								\n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */
+	"	ldr  r4, xSecureContextConst2					\n"
+	"	str  r1, [r4]									\n" /* Set xSecureContext to this task's value for the same. */
+	"	msr  psplim, r2									\n" /* Set this task's PSPLIM value. */
+	"	movs r1, #2										\n" /* r1 = 2. */
+	"	msr  CONTROL, r1								\n" /* Switch to use PSP in the thread mode. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r3											\n" /* Finally, branch to EXC_RETURN. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+	"xSecureContextConst2: .word xSecureContext			\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst2: .word 0xe000ed94					\n"
+	"xMAIR0Const2: .word 0xe000edc0						\n"
+	"xRNRConst2: .word 0xe000ed98						\n"
+	"xRBARConst2: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	);
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	tst r0, #1										\n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
+	"	ite ne											\n"
+	"	movne r0, #0									\n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+	"	moveq r0, #1									\n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+	"	bx lr											\n" /* Return. */
+	"													\n"
+	"	.align 4										\n"
+	::: "r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	 __asm volatile
+	(
+	"	mrs r0, control									\n" /* Read the CONTROL register. */
+	"	bic r0, #1										\n" /* Clear the bit 0. */
+	"	msr control, r0									\n" /* Write back the new CONTROL value. */
+	"	bx lr											\n" /* Return to the caller. */
+	::: "r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	orr r0, #1										\n" /* r0 = r0 | 1. */
+	"	msr control, r0									\n" /* CONTROL = r0. */
+	"	bx lr											\n" /* Return to the caller. */
+	:::"r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	ldr r0, xVTORConst								\n" /* Use the NVIC offset register to locate the stack. */
+	"	ldr r0, [r0]									\n" /* Read the VTOR register which gives the address of vector table. */
+	"	ldr r0, [r0]									\n" /* The first entry in vector table is stack pointer. */
+	"	msr msp, r0										\n" /* Set the MSP back to the start of the stack. */
+	"	cpsie i											\n" /* Globally enable interrupts. */
+	"	cpsie f											\n"
+	"	dsb												\n"
+	"	isb												\n"
+	"	svc %0											\n" /* System call to start the first task. */
+	"	nop												\n"
+	"													\n"
+	"   .align 4										\n"
+	"xVTORConst: .word 0xe000ed08						\n"
+	:: "i" ( portSVC_START_SCHEDULER ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	mrs r0, basepri									\n" /* r0 = basepri. Return original basepri value. */
+	"	mov r1, %0										\n" /* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+	"	msr basepri, r1									\n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	bx lr											\n" /* Return. */
+	:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	msr basepri, r0									\n" /* basepri = ulMask. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	bx lr											\n" /* Return. */
+	::: "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"	.extern SecureContext_SaveContext				\n"
+	"	.extern SecureContext_LoadContext				\n"
+	"													\n"
+	"	mrs r1, psp										\n" /* Read PSP in r1. */
+	"	ldr r2, xSecureContextConst						\n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */
+	"	ldr r0, [r2]									\n" /* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */
+	"													\n"
+	"	cbz r0, save_ns_context							\n" /* No secure context to save. */
+	"	push {r0-r2, r14}								\n"
+	"	bl SecureContext_SaveContext					\n"
+	"	pop {r0-r3}										\n" /* LR is now in r3. */
+	"	mov lr, r3										\n" /* LR = r3. */
+	"	lsls r2, r3, #25								\n" /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */
+	"	bpl save_ns_context								\n" /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */
+	"	ldr r3, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r2, [r3]									\n" /* Read pxCurrentTCB. */
+	#if( configENABLE_MPU == 1 )
+	"	subs r1, r1, #16								\n" /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mrs r3, control									\n" /* r3 = CONTROL. */
+	"	mov r4, lr										\n" /* r4 = LR/EXC_RETURN. */
+	"	stmia r1!, {r0, r2-r4}							\n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
+	#else /* configENABLE_MPU */
+	"	subs r1, r1, #12								\n" /* Make space for xSecureContext, PSPLIM and LR on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmia r1!, {r0, r2-r3}							\n" /* Store xSecureContext, PSPLIM and LR on the stack. */
+	#endif /* configENABLE_MPU */
+	"	b select_next_task								\n"
+	"													\n"
+	" save_ns_context:									\n"
+	"	ldr r3, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r2, [r3]									\n" /* Read pxCurrentTCB. */
+	#if( configENABLE_FPU == 1 )
+	"	tst lr, #0x10									\n" /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */
+	"	it eq											\n"
+	"	vstmdbeq r1!, {s16-s31}							\n" /* Store the FPU registers which are not saved automatically. */
+	#endif /* configENABLE_FPU */
+	#if( configENABLE_MPU == 1 )
+	"	subs r1, r1, #48								\n" /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	adds r1, r1, #16								\n" /* r1 = r1 + 16. */
+	"	stm r1, {r4-r11}								\n" /* Store the registers that are not saved automatically. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mrs r3, control									\n" /* r3 = CONTROL. */
+	"	mov r4, lr										\n" /* r4 = LR/EXC_RETURN. */
+	"	subs r1, r1, #16								\n" /* r1 = r1 - 16. */
+	"	stm r1, {r0, r2-r4}								\n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
+	#else /* configENABLE_MPU */
+	"	subs r1, r1, #44								\n" /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */
+	"	str r1, [r2]									\n" /* Save the new top of stack in TCB. */
+	"	adds r1, r1, #12								\n" /* r1 = r1 + 12. */
+	"	stm r1, {r4-r11}								\n" /* Store the registers that are not saved automatically. */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	subs r1, r1, #12								\n" /* r1 = r1 - 12. */
+	"	stmia r1!, {r0, r2-r3}							\n" /* Store xSecureContext, PSPLIM and LR on the stack. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	" select_next_task:									\n"
+	"	mov r0, %0										\n" /* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */
+	"	msr basepri, r0									\n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	bl vTaskSwitchContext							\n"
+	"	mov r0, #0										\n" /* r0 = 0. */
+	"	msr basepri, r0									\n" /* Enable interrupts. */
+	"													\n"
+	"	ldr r2, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r3, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr r1, [r3]									\n" /* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	bic r4, #1										\n" /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */
+	"	ldr r4, [r3]									\n" /* r4 = *r3 i.e. r4 = MAIR0. */
+	"	ldr r2, xMAIR0Const								\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str r4, [r2]									\n" /* Program MAIR0. */
+	"	ldr r2, xRNRConst								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	movs r4, #4										\n" /* r4 = 4. */
+	"	str r4, [r2]									\n" /* Program RNR = 4. */
+	"	adds r3, #4										\n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
+	"	ldr  r2, xRBARConst								\n" /* r2 = 0xe000ed9c [Location of RBAR]. */
+	"	ldmia r3!, {r4-r11}								\n" /* Read 4 sets of RBAR/RLAR registers from TCB. */
+	"	stmia r2!, {r4-r11}								\n" /* Write 4 set of RBAR/RLAR registers using alias registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	orr r4, #1										\n" /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldmia r1!, {r0, r2-r4}							\n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */
+	"	msr psplim, r2									\n" /* Restore the PSPLIM register value for the task. */
+	"	msr control, r3									\n" /* Restore the CONTROL register value for the task. */
+	"	mov lr, r4										\n" /* LR = r4. */
+	"	ldr r2, xSecureContextConst						\n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */
+	"	str r0, [r2]									\n" /* Restore the task's xSecureContext. */
+	"	cbz r0, restore_ns_context						\n" /* If there is no secure context for the task, restore the non-secure context. */
+	"	push {r1,r4}									\n"
+	"	bl SecureContext_LoadContext					\n" /* Restore the secure context. */
+	"	pop {r1,r4}										\n"
+	"	mov lr, r4										\n" /* LR = r4. */
+	"	lsls r2, r4, #25								\n" /* r2 = r4 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */
+	"	bpl restore_ns_context							\n" /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */
+	"	msr psp, r1										\n" /* Remember the new top of stack for the task. */
+	"	bx lr											\n"
+	#else /* configENABLE_MPU */
+	"	ldmia r1!, {r0, r2-r3}							\n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */
+	"	msr psplim, r2									\n" /* Restore the PSPLIM register value for the task. */
+	"	mov lr, r3										\n" /* LR = r3. */
+	"	ldr r2, xSecureContextConst						\n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */
+	"	str r0, [r2]									\n" /* Restore the task's xSecureContext. */
+	"	cbz r0, restore_ns_context						\n" /* If there is no secure context for the task, restore the non-secure context. */
+	"	push {r1,r3}									\n"
+	"	bl SecureContext_LoadContext					\n" /* Restore the secure context. */
+	"	pop {r1,r3}										\n"
+	"	mov lr, r3										\n" /* LR = r3. */
+	"	lsls r2, r3, #25								\n" /* r2 = r3 << 25. Bit[6] of EXC_RETURN is 1 if secure stack was used, 0 if non-secure stack was used to store stack frame. */
+	"	bpl restore_ns_context							\n" /* bpl - branch if positive or zero. If r2 >= 0 ==> Bit[6] in EXC_RETURN is 0 i.e. non-secure stack was used. */
+	"	msr psp, r1										\n" /* Remember the new top of stack for the task. */
+	"	bx lr											\n"
+	#endif /* configENABLE_MPU */
+	"													\n"
+	" restore_ns_context:								\n"
+	"	ldmia r1!, {r4-r11}								\n" /* Restore the registers that are not automatically restored. */
+	#if( configENABLE_FPU == 1 )
+	"	tst lr, #0x10									\n" /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */
+	"	it eq											\n"
+	"	vldmiaeq r1!, {s16-s31}							\n" /* Restore the FPU registers which are not restored automatically. */
+	#endif /* configENABLE_FPU */
+	"	msr psp, r1										\n" /* Remember the new top of stack for the task. */
+	"	bx lr											\n"
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB				\n"
+	"xSecureContextConst: .word xSecureContext			\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst: .word 0xe000ed94					\n"
+	"xMAIR0Const: .word 0xe000edc0						\n"
+	"xRNRConst: .word 0xe000ed98						\n"
+	"xRBARConst: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	:: "i"( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+	);
+}
+/*-----------------------------------------------------------*/
+
+void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	tst lr, #4										\n"
+	"	ite eq											\n"
+	"	mrseq r0, msp									\n"
+	"	mrsne r0, psp									\n"
+	"	ldr r1, svchandler_address_const				\n"
+	"	bx r1											\n"
+	"													\n"
+	"	.align 4										\n"
+	"svchandler_address_const: .word vPortSVCHandler_C	\n"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	svc %0											\n" /* Secure context is allocated in the supervisor call. */
+	"	bx lr											\n" /* Return. */
+	:: "i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	ldr r1, [r0]									\n" /* The first item in the TCB is the top of the stack. */
+	"	ldr r0, [r1]									\n" /* The first item on the stack is the task's xSecureContext. */
+	"	cmp r0, #0										\n" /* Raise svc if task's xSecureContext is not NULL. */
+	"	it ne											\n"
+	"	svcne %0										\n" /* Secure context is freed in the supervisor call. */
+	"	bx lr											\n" /* Return. */
+	:: "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/non_secure/portasm.h

@@ -0,0 +1,113 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __PORT_ASM_H__
+#define __PORT_ASM_H__
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/**
+ * @brief Restore the context of the first task so that the first task starts
+ * executing.
+ */
+void vRestoreContextOfFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Raises the privilege level by clearing the bit 0 of the CONTROL
+ * register.
+ *
+ * @note This is a privileged function and should only be called from the kenrel
+ * code.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vResetPrivilege( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Starts the first task.
+ */
+void vStartFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Disables interrupts.
+ */
+uint32_t ulSetInterruptMask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enables interrupts.
+ */
+void vClearInterruptMask( uint32_t ulMask ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief PendSV Exception handler.
+ */
+void PendSV_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SVC Handler.
+ */
+void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Allocate a Secure context for the calling task.
+ *
+ * @param[in] ulSecureStackSize The size of the stack to be allocated on the
+ * secure side for the calling task.
+ */
+void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__ (( naked ));
+
+/**
+ * @brief Free the task's secure context.
+ *
+ * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task.
+ */
+void vPortFreeSecureContext( uint32_t *pulTCB ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+#endif /* __PORT_ASM_H__ */

portable/GCC/ARM_CM33/non_secure/portmacro.h

@@ -0,0 +1,301 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*------------------------------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *------------------------------------------------------------------------------
+ */
+
+#ifndef configENABLE_FPU
+	#error configENABLE_FPU must be defined in FreeRTOSConfig.h.  Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU.
+#endif /* configENABLE_FPU */
+
+#ifndef configENABLE_MPU
+	#error configENABLE_MPU must be defined in FreeRTOSConfig.h.  Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU.
+#endif /* configENABLE_MPU */
+
+#ifndef configENABLE_TRUSTZONE
+	#error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h.  Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone.
+#endif /* configENABLE_TRUSTZONE */
+
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Type definitions.
+ */
+#define portCHAR											char
+#define portFLOAT											float
+#define portDOUBLE											double
+#define portLONG											long
+#define portSHORT											short
+#define portSTACK_TYPE										uint32_t
+#define portBASE_TYPE										long
+
+typedef portSTACK_TYPE										StackType_t;
+typedef long												BaseType_t;
+typedef unsigned long										UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	 * not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC							1
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * Architecture specifics.
+ */
+#define portARCH_NAME										"Cortex-M33"
+#define portSTACK_GROWTH									( -1 )
+#define portTICK_PERIOD_MS									( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT									8
+#define portNOP()
+#define portINLINE											__inline
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE								inline __attribute__(( always_inline ))
+#endif
+#define portHAS_STACK_OVERFLOW_CHECKING						1
+#define portDONT_DISCARD									__attribute__(( used ))
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Extern declarations.
+ */
+extern BaseType_t xPortIsInsideInterrupt( void );
+
+extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
+
+extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
+extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
+
+extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
+	extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
+#endif /* configENABLE_TRUSTZONE */
+
+#if( configENABLE_MPU == 1 )
+	extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
+	extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief MPU specific constants.
+ */
+#if( configENABLE_MPU == 1 )
+	#define portUSING_MPU_WRAPPERS							1
+	#define portPRIVILEGE_BIT								( 0x80000000UL )
+#else
+	#define portPRIVILEGE_BIT								( 0x0UL )
+#endif /* configENABLE_MPU */
+
+
+/* MPU regions. */
+#define portPRIVILEGED_FLASH_REGION							( 0UL )
+#define portUNPRIVILEGED_FLASH_REGION						( 1UL )
+#define portUNPRIVILEGED_SYSCALLS_REGION					( 2UL )
+#define portPRIVILEGED_RAM_REGION							( 3UL )
+#define portSTACK_REGION									( 4UL )
+#define portFIRST_CONFIGURABLE_REGION						( 5UL )
+#define portLAST_CONFIGURABLE_REGION						( 7UL )
+#define portNUM_CONFIGURABLE_REGIONS						( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
+#define portTOTAL_NUM_REGIONS								( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
+
+/* Device memory attributes used in MPU_MAIR registers.
+ *
+ * 8-bit values encoded as follows:
+ *  Bit[7:4] - 0000 - Device Memory
+ *  Bit[3:2] - 00 --> Device-nGnRnE
+ *				01 --> Device-nGnRE
+ *				10 --> Device-nGRE
+ *				11 --> Device-GRE
+ *  Bit[1:0] - 00, Reserved.
+ */
+#define portMPU_DEVICE_MEMORY_nGnRnE						( 0x00 ) /* 0000 0000 */
+#define portMPU_DEVICE_MEMORY_nGnRE							( 0x04 ) /* 0000 0100 */
+#define portMPU_DEVICE_MEMORY_nGRE							( 0x08 ) /* 0000 1000 */
+#define portMPU_DEVICE_MEMORY_GRE							( 0x0C ) /* 0000 1100 */
+
+/* Normal memory attributes used in MPU_MAIR registers. */
+#define portMPU_NORMAL_MEMORY_NON_CACHEABLE					( 0x44 ) /* Non-cacheable. */
+#define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE			( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
+
+/* Attributes used in MPU_RBAR registers. */
+#define portMPU_REGION_NON_SHAREABLE						( 0UL << 3UL )
+#define portMPU_REGION_INNER_SHAREABLE						( 1UL << 3UL )
+#define portMPU_REGION_OUTER_SHAREABLE						( 2UL << 3UL )
+
+#define portMPU_REGION_PRIVILEGED_READ_WRITE				( 0UL << 1UL )
+#define portMPU_REGION_READ_WRITE							( 1UL << 1UL )
+#define portMPU_REGION_PRIVILEGED_READ_ONLY					( 2UL << 1UL )
+#define portMPU_REGION_READ_ONLY							( 3UL << 1UL )
+
+#define portMPU_REGION_EXECUTE_NEVER						( 1UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Settings to define an MPU region.
+ */
+typedef struct MPURegionSettings
+{
+	uint32_t ulRBAR;	/**< RBAR for the region. */
+	uint32_t ulRLAR;	/**< RLAR for the region. */
+} MPURegionSettings_t;
+
+/**
+ * @brief MPU settings as stored in the TCB.
+ */
+typedef struct MPU_SETTINGS
+{
+	uint32_t ulMAIR0;	/**< MAIR0 for the task containing attributes for all the 4 per task regions. */
+	MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
+} xMPU_SETTINGS;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief SVC numbers.
+ */
+#define portSVC_ALLOCATE_SECURE_CONTEXT						0
+#define portSVC_FREE_SECURE_CONTEXT							1
+#define portSVC_START_SCHEDULER								2
+#define portSVC_RAISE_PRIVILEGE								3
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Scheduler utilities.
+ */
+#define portYIELD()											vPortYield()
+#define portNVIC_INT_CTRL_REG								( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT								( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired )			if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x )								portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Critical section management.
+ */
+#define portSET_INTERRUPT_MASK_FROM_ISR()					ulSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x )				vClearInterruptMask( x )
+#define portDISABLE_INTERRUPTS()							ulSetInterruptMask()
+#define portENABLE_INTERRUPTS()								vClearInterruptMask( 0 )
+#define portENTER_CRITICAL()								vPortEnterCritical()
+#define portEXIT_CRITICAL()									vPortExitCritical()
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Task function macros as described on the FreeRTOS.org WEB site.
+ */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )		void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Allocate a secure context for the task.
+	 *
+	 * Tasks are not created with a secure context. Any task that is going to call
+	 * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
+	 * secure context before it calls any secure function.
+	 *
+	 * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
+	 */
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )	vPortAllocateSecureContext( ulSecureStackSize )
+
+	/**
+	 * @brief Called when a task is deleted to delete the task's secure context,
+	 * if it has one.
+	 *
+	 * @param[in] pxTCB The TCB of the task being deleted.
+	 */
+	#define portCLEAN_UP_TCB( pxTCB )							vPortFreeSecureContext( ( uint32_t * ) pxTCB )
+#else
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )
+	#define portCLEAN_UP_TCB( pxTCB )
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Checks whether or not the processor is privileged.
+	 *
+	 * @return 1 if the processor is already privileged, 0 otherwise.
+	 */
+	#define portIS_PRIVILEGED()									xIsPrivileged()
+
+	/**
+	 * @brief Raise an SVC request to raise privilege.
+	 *
+	 * The SVC handler checks that the SVC was raised from a system call and only
+	 * then it raises the privilege. If this is called from any other place,
+	 * the privilege is not raised.
+	 */
+	#define portRAISE_PRIVILEGE()								__asm volatile ( "svc %0 \n" :: "i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+
+	/**
+	 * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+	 * register.
+	 */
+	#define portRESET_PRIVILEGE()								vResetPrivilege()
+#else
+	#define portIS_PRIVILEGED()
+	#define portRAISE_PRIVILEGE()
+	#define portRESET_PRIVILEGE()
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Barriers.
+ */
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+/*-----------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

portable/GCC/ARM_CM33/secure/secure_context.c

@@ -0,0 +1,204 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Secure context includes. */
+#include "secure_context.h"
+
+/* Secure heap includes. */
+#include "secure_heap.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+/**
+ * @brief CONTROL value for privileged tasks.
+ *
+ * Bit[0] - 0 --> Thread mode is privileged.
+ * Bit[1] - 1 --> Thread mode uses PSP.
+ */
+#define securecontextCONTROL_VALUE_PRIVILEGED		0x02
+
+/**
+ * @brief CONTROL value for un-privileged tasks.
+ *
+ * Bit[0] - 1 --> Thread mode is un-privileged.
+ * Bit[1] - 1 --> Thread mode uses PSP.
+ */
+#define securecontextCONTROL_VALUE_UNPRIVILEGED		0x03
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Structure to represent secure context.
+ *
+ * @note Since stack grows down, pucStackStart is the highest address while
+ * pucStackLimit is the first addess of the allocated memory.
+ */
+typedef struct SecureContext
+{
+	uint8_t *pucCurrentStackPointer;	/**< Current value of stack pointer (PSP). */
+	uint8_t *pucStackLimit;				/**< Last location of the stack memory (PSPLIM). */
+	uint8_t *pucStackStart;				/**< First location of the stack memory. */
+} SecureContext_t;
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureContext_Init( void )
+{
+	uint32_t ulIPSR;
+
+	/* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* No stack for thread mode until a task's context is loaded. */
+		secureportSET_PSPLIM( securecontextNO_STACK );
+		secureportSET_PSP( securecontextNO_STACK );
+
+		#if( configENABLE_MPU == 1 )
+		{
+			/* Configure thread mode to use PSP and to be unprivileged. */
+			secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED );
+		}
+		#else /* configENABLE_MPU */
+		{
+			/* Configure thread mode to use PSP and to be privileged.. */
+			secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED );
+		}
+		#endif /* configENABLE_MPU */
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged )
+#else /* configENABLE_MPU */
+	secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize )
+#endif /* configENABLE_MPU */
+{
+	uint8_t *pucStackMemory = NULL;
+	uint32_t ulIPSR;
+	SecureContextHandle_t xSecureContextHandle = NULL;
+	#if( configENABLE_MPU == 1 )
+		uint32_t *pulCurrentStackPointer = NULL;
+	#endif /* configENABLE_MPU */
+
+	/* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* Allocate the context structure. */
+		xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) );
+
+		if( xSecureContextHandle != NULL )
+		{
+			/* Allocate the stack space. */
+			pucStackMemory = pvPortMalloc( ulSecureStackSize );
+
+			if( pucStackMemory != NULL )
+			{
+				/* Since stack grows down, the starting point will be the last
+				 * location. Note that this location is next to the last
+				 * allocated byte because the hardware decrements the stack
+				 * pointer before writing i.e. if stack pointer is 0x2, a push
+				 * operation will decrement the stack pointer to 0x1 and then
+				 * write at 0x1. */
+				xSecureContextHandle->pucStackStart = pucStackMemory + ulSecureStackSize;
+
+				/* The stack cannot go beyond this location. This value is
+				 * programmed in the PSPLIM register on context switch.*/
+				xSecureContextHandle->pucStackLimit = pucStackMemory;
+
+				#if( configENABLE_MPU == 1 )
+				{
+					/* Store the correct CONTROL value for the task on the stack.
+					 * This value is programmed in the CONTROL register on
+					 * context switch. */
+					pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart;
+					pulCurrentStackPointer--;
+					if( ulIsTaskPrivileged )
+					{
+						*( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED;
+					}
+					else
+					{
+						*( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED;
+					}
+
+					/* Store the current stack pointer. This value is programmed in
+					 * the PSP register on context switch. */
+					xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer;
+				}
+				#else /* configENABLE_MPU */
+				{
+					/* Current SP is set to the starting of the stack. This
+					 * value programmed in the PSP register on context switch. */
+					xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart;
+
+				}
+				#endif /* configENABLE_MPU */
+			}
+			else
+			{
+				/* Free the context to avoid memory leak and make sure to return
+				 * NULL to indicate failure. */
+				vPortFree( xSecureContextHandle );
+				xSecureContextHandle = NULL;
+			}
+		}
+	}
+
+	return xSecureContextHandle;
+}
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle )
+{
+	uint32_t ulIPSR;
+
+	/* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* Ensure that valid parameters are passed. */
+		secureportASSERT( xSecureContextHandle != NULL );
+
+		/* Free the stack space. */
+		vPortFree( xSecureContextHandle->pucStackLimit );
+
+		/* Free the context itself. */
+		vPortFree( xSecureContextHandle );
+	}
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/secure/secure_context.h

@@ -0,0 +1,111 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_CONTEXT_H__
+#define __SECURE_CONTEXT_H__
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* FreeRTOS includes. */
+#include "FreeRTOSConfig.h"
+
+/**
+ * @brief PSP value when no task's context is loaded.
+ */
+#define securecontextNO_STACK	0x0
+
+/**
+ * @brief Opaque handle.
+ */
+struct SecureContext;
+typedef struct SecureContext*	SecureContextHandle_t;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Initializes the secure context management system.
+ *
+ * PSP is set to NULL and therefore a task must allocate and load a context
+ * before calling any secure side function in the thread mode.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ */
+void SecureContext_Init( void );
+
+/**
+ * @brief Allocates a context on the secure side.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] ulSecureStackSize Size of the stack to allocate on secure side.
+ * @param[in] ulIsTaskPrivileged 1 if the calling task is privileged, 0 otherwise.
+ *
+ * @return Opaque context handle if context is successfully allocated, NULL
+ * otherwise.
+ */
+#if( configENABLE_MPU == 1 )
+	SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged );
+#else /* configENABLE_MPU */
+	SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize );
+#endif /* configENABLE_MPU */
+
+/**
+ * @brief Frees the given context.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] xSecureContextHandle Context handle corresponding to the
+ * context to be freed.
+ */
+void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle );
+
+/**
+ * @brief Loads the given context.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] xSecureContextHandle Context handle corresponding to the context
+ * to be loaded.
+ */
+void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle );
+
+/**
+ * @brief Saves the given context.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ *
+ * @param[in] xSecureContextHandle Context handle corresponding to the context
+ * to be saved.
+ */
+void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle );
+
+#endif /* __SECURE_CONTEXT_H__ */

portable/GCC/ARM_CM33/secure/secure_context_port.c

@@ -0,0 +1,88 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Secure context includes. */
+#include "secure_context.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
+{
+	/* xSecureContextHandle value is in r0. */
+	__asm volatile
+	(
+	"	.syntax unified							\n"
+	"											\n"
+	"	mrs r1, ipsr							\n" /* r1 = IPSR. */
+	"	cbz r1, load_ctx_therad_mode			\n" /* Do nothing if the processor is running in the Thread Mode. */
+	"	ldmia r0!, {r1, r2}						\n" /* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */
+	#if( configENABLE_MPU == 1 )
+	"	ldmia r1!, {r3}							\n" /* Read CONTROL register value from task's stack. r3 = CONTROL. */
+	"	msr control, r3							\n" /* CONTROL = r3. */
+	#endif /* configENABLE_MPU */
+	"	msr psplim, r2							\n" /* PSPLIM = r2. */
+	"	msr psp, r1								\n" /* PSP = r1. */
+	"											\n"
+	" load_ctx_therad_mode:						\n"
+	"	nop										\n"
+	"											\n"
+	:::"r0", "r1", "r2"
+	);
+}
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
+{
+	/* xSecureContextHandle value is in r0. */
+	__asm volatile
+	(
+	"	.syntax unified							\n"
+	"											\n"
+	"	mrs r1, ipsr							\n" /* r1 = IPSR. */
+	"	cbz r1, save_ctx_therad_mode			\n" /* Do nothing if the processor is running in the Thread Mode. */
+	"	mrs r1, psp								\n" /* r1 = PSP. */
+	#if( configENABLE_FPU == 1 )
+	"	vstmdb r1!, {s0}						\n" /* Trigger the defferred stacking of FPU registers. */
+	"	vldmia r1!, {s0}						\n" /* Nullify the effect of the pervious statement. */
+	#endif /* configENABLE_FPU */
+	#if( configENABLE_MPU == 1 )
+	"	mrs r2, control							\n" /* r2 = CONTROL. */
+	"	stmdb r1!, {r2}							\n" /* Store CONTROL value on the stack. */
+	#endif /* configENABLE_MPU */
+	"	str r1, [r0]							\n" /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
+	"	movs r1, %0								\n" /* r1 = securecontextNO_STACK. */
+	"	msr psplim, r1							\n" /* PSPLIM = securecontextNO_STACK. */
+	"	msr psp, r1								\n" /* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */
+	"											\n"
+	" save_ctx_therad_mode:						\n"
+	"	nop										\n"
+	"											\n"
+	:: "i" ( securecontextNO_STACK ) : "r1", "memory"
+	);
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/secure/secure_heap.c

@@ -0,0 +1,450 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Secure context heap includes. */
+#include "secure_heap.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+/**
+ * @brief Total heap size.
+ */
+#define secureconfigTOTAL_HEAP_SIZE		( ( ( size_t ) ( 10 * 1024 ) ) )
+
+/* No test marker by default. */
+#ifndef mtCOVERAGE_TEST_MARKER
+	#define mtCOVERAGE_TEST_MARKER()
+#endif
+
+/* No tracing by default. */
+#ifndef traceMALLOC
+	#define traceMALLOC( pvReturn, xWantedSize )
+#endif
+
+/* No tracing by default. */
+#ifndef traceFREE
+	#define traceFREE( pv, xBlockSize )
+#endif
+
+/* Block sizes must not get too small. */
+#define secureheapMINIMUM_BLOCK_SIZE	( ( size_t ) ( xHeapStructSize << 1 ) )
+
+/* Assumes 8bit bytes! */
+#define secureheapBITS_PER_BYTE			( ( size_t ) 8 )
+/*-----------------------------------------------------------*/
+
+/* Allocate the memory for the heap. */
+#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
+	/* The application writer has already defined the array used for the RTOS
+	 * heap - probably so it can be placed in a special segment or address. */
+	extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
+#else /* configAPPLICATION_ALLOCATED_HEAP */
+	static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
+#endif /* configAPPLICATION_ALLOCATED_HEAP */
+
+/**
+ * @brief The linked list structure.
+ *
+ * This is used to link free blocks in order of their memory address.
+ */
+typedef struct A_BLOCK_LINK
+{
+	struct A_BLOCK_LINK *pxNextFreeBlock;	/**< The next free block in the list. */
+	size_t xBlockSize;						/**< The size of the free block. */
+} BlockLink_t;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Called automatically to setup the required heap structures the first
+ * time pvPortMalloc() is called.
+ */
+static void prvHeapInit( void );
+
+/**
+ * @brief Inserts a block of memory that is being freed into the correct
+ * position in the list of free memory blocks.
+ *
+ * The block being freed will be merged with the block in front it and/or the
+ * block behind it if the memory blocks are adjacent to each other.
+ *
+ * @param[in] pxBlockToInsert The block being freed.
+ */
+static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert );
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief The size of the structure placed at the beginning of each allocated
+ * memory block must by correctly byte aligned.
+ */
+static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( secureportBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
+
+/**
+ * @brief Create a couple of list links to mark the start and end of the list.
+ */
+static BlockLink_t xStart, *pxEnd = NULL;
+
+/**
+ * @brief Keeps track of the number of free bytes remaining, but says nothing
+ * about fragmentation.
+ */
+static size_t xFreeBytesRemaining = 0U;
+static size_t xMinimumEverFreeBytesRemaining = 0U;
+
+/**
+ * @brief Gets set to the top bit of an size_t type.
+ *
+ * When this bit in the xBlockSize member of an BlockLink_t structure is set
+ * then the block belongs to the application. When the bit is free the block is
+ * still part of the free heap space.
+ */
+static size_t xBlockAllocatedBit = 0;
+/*-----------------------------------------------------------*/
+
+static void prvHeapInit( void )
+{
+BlockLink_t *pxFirstFreeBlock;
+uint8_t *pucAlignedHeap;
+size_t uxAddress;
+size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE;
+
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	uxAddress = ( size_t ) ucHeap;
+
+	if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 )
+	{
+		uxAddress += ( secureportBYTE_ALIGNMENT - 1 );
+		uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
+		xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
+	}
+
+	pucAlignedHeap = ( uint8_t * ) uxAddress;
+
+	/* xStart is used to hold a pointer to the first item in the list of free
+	 * blocks.  The void cast is used to prevent compiler warnings. */
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+	xStart.xBlockSize = ( size_t ) 0;
+
+	/* pxEnd is used to mark the end of the list of free blocks and is inserted
+	 * at the end of the heap space. */
+	uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
+	uxAddress -= xHeapStructSize;
+	uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
+	pxEnd = ( void * ) uxAddress;
+	pxEnd->xBlockSize = 0;
+	pxEnd->pxNextFreeBlock = NULL;
+
+	/* To start with there is a single free block that is sized to take up the
+	 * entire heap space, minus the space taken by pxEnd. */
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
+	pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock;
+	pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
+
+	/* Only one block exists - and it covers the entire usable heap space. */
+	xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
+	xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
+
+	/* Work out the position of the top bit in a size_t variable. */
+	xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 );
+}
+/*-----------------------------------------------------------*/
+
+static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
+{
+BlockLink_t *pxIterator;
+uint8_t *puc;
+
+	/* Iterate through the list until a block is found that has a higher address
+	 * than the block being inserted. */
+	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
+	{
+		/* Nothing to do here, just iterate to the right position. */
+	}
+
+	/* Do the block being inserted, and the block it is being inserted after
+	 * make a contiguous block of memory? */
+	puc = ( uint8_t * ) pxIterator;
+	if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
+	{
+		pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
+		pxBlockToInsert = pxIterator;
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+
+	/* Do the block being inserted, and the block it is being inserted before
+	 * make a contiguous block of memory? */
+	puc = ( uint8_t * ) pxBlockToInsert;
+	if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
+	{
+		if( pxIterator->pxNextFreeBlock != pxEnd )
+		{
+			/* Form one big block from the two blocks. */
+			pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
+			pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
+		}
+		else
+		{
+			pxBlockToInsert->pxNextFreeBlock = pxEnd;
+		}
+	}
+	else
+	{
+		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
+	}
+
+	/* If the block being inserted plugged a gab, so was merged with the block
+	 * before and the block after, then it's pxNextFreeBlock pointer will have
+	 * already been set, and should not be set here as that would make it point
+	 * to itself. */
+	if( pxIterator != pxBlockToInsert )
+	{
+		pxIterator->pxNextFreeBlock = pxBlockToInsert;
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
+void *pvReturn = NULL;
+
+	/* If this is the first call to malloc then the heap will require
+	 * initialisation to setup the list of free blocks. */
+	if( pxEnd == NULL )
+	{
+		prvHeapInit();
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+
+	/* Check the requested block size is not so large that the top bit is set.
+	 * The top bit of the block size member of the BlockLink_t structure is used
+	 * to determine who owns the block - the application or the kernel, so it
+	 * must be free. */
+	if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
+	{
+		/* The wanted size is increased so it can contain a BlockLink_t
+		 * structure in addition to the requested amount of bytes. */
+		if( xWantedSize > 0 )
+		{
+			xWantedSize += xHeapStructSize;
+
+			/* Ensure that blocks are always aligned to the required number of
+			 * bytes. */
+			if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 )
+			{
+				/* Byte alignment required. */
+				xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) );
+				secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 );
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+
+		if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
+		{
+			/* Traverse the list from the start (lowest address) block until
+			 * one of adequate size is found. */
+			pxPreviousBlock = &xStart;
+			pxBlock = xStart.pxNextFreeBlock;
+			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+			{
+				pxPreviousBlock = pxBlock;
+				pxBlock = pxBlock->pxNextFreeBlock;
+			}
+
+			/* If the end marker was reached then a block of adequate size was
+			 * not found. */
+			if( pxBlock != pxEnd )
+			{
+				/* Return the memory space pointed to - jumping over the
+				 * BlockLink_t structure at its start. */
+				pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
+
+				/* This block is being returned for use so must be taken out
+				 * of the list of free blocks. */
+				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+				/* If the block is larger than required it can be split into
+				 * two. */
+				if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE )
+				{
+					/* This block is to be split into two.  Create a new
+					 * block following the number of bytes requested. The void
+					 * cast is used to prevent byte alignment warnings from the
+					 * compiler. */
+					pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
+					secureportASSERT( ( ( ( size_t ) pxNewBlockLink ) & secureportBYTE_ALIGNMENT_MASK ) == 0 );
+
+					/* Calculate the sizes of two blocks split from the single
+					 * block. */
+					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+					pxBlock->xBlockSize = xWantedSize;
+
+					/* Insert the new block into the list of free blocks. */
+					prvInsertBlockIntoFreeList( pxNewBlockLink );
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+
+				xFreeBytesRemaining -= pxBlock->xBlockSize;
+
+				if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
+				{
+					xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+
+				/* The block is being returned - it is allocated and owned by
+				 * the application and has no "next" block. */
+				pxBlock->xBlockSize |= xBlockAllocatedBit;
+				pxBlock->pxNextFreeBlock = NULL;
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+	else
+	{
+		mtCOVERAGE_TEST_MARKER();
+	}
+
+	traceMALLOC( pvReturn, xWantedSize );
+
+	#if( secureconfigUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+	#endif
+
+	secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 );
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+uint8_t *puc = ( uint8_t * ) pv;
+BlockLink_t *pxLink;
+
+	if( pv != NULL )
+	{
+		/* The memory being freed will have an BlockLink_t structure immediately
+		 * before it. */
+		puc -= xHeapStructSize;
+
+		/* This casting is to keep the compiler from issuing warnings. */
+		pxLink = ( void * ) puc;
+
+		/* Check the block is actually allocated. */
+		secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
+		secureportASSERT( pxLink->pxNextFreeBlock == NULL );
+
+		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
+		{
+			if( pxLink->pxNextFreeBlock == NULL )
+			{
+				/* The block is being returned to the heap - it is no longer
+				 * allocated. */
+				pxLink->xBlockSize &= ~xBlockAllocatedBit;
+
+				secureportDISABLE_NON_SECURE_INTERRUPTS();
+				{
+					/* Add this block to the list of free blocks. */
+					xFreeBytesRemaining += pxLink->xBlockSize;
+					traceFREE( pv, pxLink->xBlockSize );
+					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
+				}
+				secureportENABLE_NON_SECURE_INTERRUPTS();
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return xFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetMinimumEverFreeHeapSize( void )
+{
+	return xMinimumEverFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* This just exists to keep the linker quiet. */
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/secure/secure_heap.h

@@ -0,0 +1,51 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_HEAP_H__
+#define __SECURE_HEAP_H__
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/**
+ * @brief Allocates memory from heap.
+ *
+ * @param[in] xWantedSize The size of the memory to be allocated.
+ *
+ * @return Pointer to the memory region if the allocation is successful, NULL
+ * otherwise.
+ */
+void *pvPortMalloc( size_t xWantedSize );
+
+/**
+ * @brief Frees the previously allocated memory.
+ *
+ * @param[in] pv Pointer to the memory to be freed.
+ */
+void vPortFree( void *pv );
+
+#endif /* __SECURE_HEAP_H__ */

portable/GCC/ARM_CM33/secure/secure_init.c

@@ -0,0 +1,105 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Secure init includes. */
+#include "secure_init.h"
+
+/* Secure port macros. */
+#include "secure_port_macros.h"
+
+/**
+ * @brief Constants required to manipulate the SCB.
+ */
+#define secureinitSCB_AIRCR					( ( volatile uint32_t * ) 0xe000ed0c )  /* Application Interrupt and Reset Control Register. */
+#define secureinitSCB_AIRCR_VECTKEY_POS		( 16UL )
+#define secureinitSCB_AIRCR_VECTKEY_MASK	( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS )
+#define secureinitSCB_AIRCR_PRIS_POS		( 14UL )
+#define secureinitSCB_AIRCR_PRIS_MASK		( 1UL << secureinitSCB_AIRCR_PRIS_POS )
+
+/**
+ * @brief Constants required to manipulate the FPU.
+ */
+#define secureinitFPCCR						( ( volatile uint32_t * ) 0xe000ef34 )  /* Floating Point Context Control Register. */
+#define secureinitFPCCR_LSPENS_POS			( 29UL )
+#define secureinitFPCCR_LSPENS_MASK			( 1UL << secureinitFPCCR_LSPENS_POS )
+#define secureinitFPCCR_TS_POS				( 26UL )
+#define secureinitFPCCR_TS_MASK				( 1UL << secureinitFPCCR_TS_POS )
+
+#define secureinitNSACR						( ( volatile uint32_t * ) 0xe000ed8c )  /* Non-secure Access Control Register. */
+#define secureinitNSACR_CP10_POS			( 10UL )
+#define secureinitNSACR_CP10_MASK			( 1UL << secureinitNSACR_CP10_POS )
+#define secureinitNSACR_CP11_POS			( 11UL )
+#define secureinitNSACR_CP11_MASK			( 1UL << secureinitNSACR_CP11_POS )
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void )
+{
+	uint32_t ulIPSR;
+
+	 /* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		*( secureinitSCB_AIRCR ) =	( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) |
+									( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) |
+									( ( 0x1UL	<< secureinitSCB_AIRCR_PRIS_POS )	& secureinitSCB_AIRCR_PRIS_MASK );
+	}
+}
+/*-----------------------------------------------------------*/
+
+secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void )
+{
+	uint32_t ulIPSR;
+
+	 /* Read the Interrupt Program Status Register (IPSR) value. */
+	secureportREAD_IPSR( ulIPSR );
+
+	/* Do nothing if the processor is running in the Thread Mode. IPSR is zero
+	 * when the processor is running in the Thread Mode. */
+	if( ulIPSR != 0 )
+	{
+		/* CP10 = 1 ==> Non-secure access to the Floating Point Unit is
+		 * permitted. CP11 should be programmed to the same value as CP10. */
+		*( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK );
+
+		/* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures
+		 * that we can enable/disable lazy stacking in port.c file. */
+		*( secureinitFPCCR ) &= ~ ( secureinitFPCCR_LSPENS_MASK );
+
+		/* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP
+		 * registers (S16-S31) are also pushed to stack on exception entry and
+		 * restored on exception return. */
+		*( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK );
+	}
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/secure/secure_init.h

@@ -0,0 +1,53 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_INIT_H__
+#define __SECURE_INIT_H__
+
+/**
+ * @brief De-prioritizes the non-secure exceptions.
+ *
+ * This is needed to ensure that the non-secure PendSV runs at the lowest
+ * priority. Context switch is done in the non-secure PendSV handler.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ */
+void SecureInit_DePrioritizeNSExceptions( void );
+
+/**
+ * @brief Sets up the Floating Point Unit (FPU) for Non-Secure access.
+ *
+ * Also sets FPCCR.TS=1 to ensure that the content of the Floating Point
+ * Registers are not leaked to the non-secure side.
+ *
+ * @note This function must be called in the handler mode. It is no-op if called
+ * in the thread mode.
+ */
+void SecureInit_EnableNSFPUAccess( void );
+
+#endif /* __SECURE_INIT_H__ */

portable/GCC/ARM_CM33/secure/secure_port_macros.h

@@ -0,0 +1,133 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __SECURE_PORT_MACROS_H__
+#define __SECURE_PORT_MACROS_H__
+
+/**
+ * @brief Byte alignment requirements.
+ */
+#define secureportBYTE_ALIGNMENT					8
+#define secureportBYTE_ALIGNMENT_MASK				( 0x0007 )
+
+/**
+ * @brief Macro to declare a function as non-secure callable.
+ */
+#if defined( __IAR_SYSTEMS_ICC__ )
+	#define secureportNON_SECURE_CALLABLE			__cmse_nonsecure_entry __root
+#else
+	#define secureportNON_SECURE_CALLABLE			__attribute__((cmse_nonsecure_entry)) __attribute__((used))
+#endif
+
+/**
+ * @brief Set the secure PRIMASK value.
+ */
+#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \
+	__asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" )
+
+/**
+ * @brief Set the non-secure PRIMASK value.
+ */
+#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \
+	__asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" )
+
+/**
+ * @brief Read the PSP value in the given variable.
+ */
+#define secureportREAD_PSP( pucOutCurrentStackPointer ) \
+	__asm volatile ( "mrs %0, psp"  : "=r" ( pucOutCurrentStackPointer ) )
+
+/**
+ * @brief Set the PSP to the given value.
+ */
+#define secureportSET_PSP( pucCurrentStackPointer ) \
+	__asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) )
+
+/**
+ * @brief Set the PSPLIM to the given value.
+ */
+#define secureportSET_PSPLIM( pucStackLimit ) \
+	__asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) )
+
+/**
+ * @brief Set the NonSecure MSP to the given value.
+ */
+#define secureportSET_MSP_NS( pucMainStackPointer ) \
+	__asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) )
+
+/**
+ * @brief Set the CONTROL register to the given value.
+ */
+#define secureportSET_CONTROL( ulControl ) \
+	__asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" )
+
+/**
+ * @brief Read the Interrupt Program Status Register (IPSR) value in the given
+ * variable.
+ */
+#define secureportREAD_IPSR( ulIPSR ) \
+	__asm volatile ( "mrs %0, ipsr"  : "=r" ( ulIPSR ) )
+
+/**
+ * @brief PRIMASK value to enable interrupts.
+ */
+#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL		0
+
+/**
+ * @brief PRIMASK value to disable interrupts.
+ */
+#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL	1
+
+/**
+ * @brief Disable secure interrupts.
+ */
+#define secureportDISABLE_SECURE_INTERRUPTS()		secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
+
+/**
+ * @brief Disable non-secure interrupts.
+ *
+ * This effectively disables context switches.
+ */
+#define secureportDISABLE_NON_SECURE_INTERRUPTS()	secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
+
+/**
+ * @brief Enable non-secure interrupts.
+ */
+#define secureportENABLE_NON_SECURE_INTERRUPTS()	secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL )
+
+/**
+ * @brief Assert definition.
+ */
+#define secureportASSERT( x )						\
+	if( ( x ) == 0 )								\
+	{												\
+		secureportDISABLE_SECURE_INTERRUPTS();		\
+		secureportDISABLE_NON_SECURE_INTERRUPTS();	\
+		for( ;; );									\
+	}
+
+#endif /* __SECURE_PORT_MACROS_H__ */

portable/GCC/ARM_CM33_NTZ/non_secure/port.c

@@ -0,0 +1,933 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers. That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/* Portasm includes. */
+#include "portasm.h"
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/* Secure components includes. */
+	#include "secure_context.h"
+	#include "secure_init.h"
+#endif /* configENABLE_TRUSTZONE */
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/**
+ * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only
+ * i.e. the processor boots as secure and never jumps to the non-secure side.
+ * The Trust Zone support in the port must be disabled in order to run FreeRTOS
+ * on the secure side. The following are the valid configuration seetings:
+ *
+ * 1. Run FreeRTOS on the Secure Side:
+ *		configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0
+ *
+ * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1
+ *
+ * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support:
+ *		configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0
+ */
+#if( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) )
+	#error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side.
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the NVIC.
+ */
+#define portNVIC_SYSTICK_CTRL				( ( volatile uint32_t * ) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD				( ( volatile uint32_t * ) 0xe000e014 )
+#define portNVIC_SYSTICK_CURRENT_VALUE		( ( volatile uint32_t * ) 0xe000e018 )
+#define portNVIC_INT_CTRL					( ( volatile uint32_t * ) 0xe000ed04 )
+#define portNVIC_SYSPRI2					( ( volatile uint32_t * ) 0xe000ed20 )
+#define portNVIC_SYSTICK_CLK				( 0x00000004 )
+#define portNVIC_SYSTICK_INT				( 0x00000002 )
+#define portNVIC_SYSTICK_ENABLE				( 0x00000001 )
+#define portNVIC_PENDSVSET					( 0x10000000 )
+#define portMIN_INTERRUPT_PRIORITY			( 255UL )
+#define portNVIC_PENDSV_PRI					( portMIN_INTERRUPT_PRIORITY << 16UL )
+#define portNVIC_SYSTICK_PRI				( portMIN_INTERRUPT_PRIORITY << 24UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the SCB.
+ */
+#define portSCB_SYS_HANDLER_CTRL_STATE_REG	( * ( volatile uint32_t * ) 0xe000ed24 )
+#define portSCB_MEM_FAULT_ENABLE			( 1UL << 16UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the FPU.
+ */
+#define portCPACR							( ( volatile uint32_t * ) 0xe000ed88 )	/* Coprocessor Access Control Register. */
+#define portCPACR_CP10_VALUE				( 3UL )
+#define portCPACR_CP11_VALUE				portCPACR_CP10_VALUE
+#define portCPACR_CP10_POS					( 20UL )
+#define portCPACR_CP11_POS					( 22UL )
+
+#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 )	/* Floating Point Context Control Register. */
+#define portFPCCR_ASPEN_POS					( 31UL )
+#define portFPCCR_ASPEN_MASK				( 1UL << portFPCCR_ASPEN_POS )
+#define portFPCCR_LSPEN_POS					( 30UL )
+#define portFPCCR_LSPEN_MASK				( 1UL << portFPCCR_LSPEN_POS )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to manipulate the MPU.
+ */
+#define portMPU_TYPE_REG					( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
+#define portMPU_CTRL_REG					( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
+#define portMPU_RNR_REG						( * ( ( volatile uint32_t * ) 0xe000ed98 ) )
+
+#define portMPU_RBAR_REG					( * ( ( volatile uint32_t * ) 0xe000ed9c ) )
+#define portMPU_RLAR_REG					( * ( ( volatile uint32_t * ) 0xe000eda0 ) )
+
+#define portMPU_RBAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda4 ) )
+#define portMPU_RLAR_A1_REG					( * ( ( volatile uint32_t * ) 0xe000eda8 ) )
+
+#define portMPU_RBAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edac ) )
+#define portMPU_RLAR_A2_REG					( * ( ( volatile uint32_t * ) 0xe000edb0 ) )
+
+#define portMPU_RBAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb4 ) )
+#define portMPU_RLAR_A3_REG					( * ( ( volatile uint32_t * ) 0xe000edb8 ) )
+
+#define portMPU_MAIR0_REG					( * ( ( volatile uint32_t * ) 0xe000edc0 ) )
+#define portMPU_MAIR1_REG					( * ( ( volatile uint32_t * ) 0xe000edc4 ) )
+
+#define portMPU_RBAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+#define portMPU_RLAR_ADDRESS_MASK			( 0xffffffe0 ) /* Must be 32-byte aligned. */
+
+#define portMPU_MAIR_ATTR0_POS				( 0UL )
+#define portMPU_MAIR_ATTR0_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR1_POS				( 8UL )
+#define portMPU_MAIR_ATTR1_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR2_POS				( 16UL )
+#define portMPU_MAIR_ATTR2_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR3_POS				( 24UL )
+#define portMPU_MAIR_ATTR3_MASK				( 0xff000000 )
+
+#define portMPU_MAIR_ATTR4_POS				( 0UL )
+#define portMPU_MAIR_ATTR4_MASK				( 0x000000ff )
+
+#define portMPU_MAIR_ATTR5_POS				( 8UL )
+#define portMPU_MAIR_ATTR5_MASK				( 0x0000ff00 )
+
+#define portMPU_MAIR_ATTR6_POS				( 16UL )
+#define portMPU_MAIR_ATTR6_MASK				( 0x00ff0000 )
+
+#define portMPU_MAIR_ATTR7_POS				( 24UL )
+#define portMPU_MAIR_ATTR7_MASK				( 0xff000000 )
+
+#define portMPU_RLAR_ATTR_INDEX0			( 0UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX1			( 1UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX2			( 2UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX3			( 3UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX4			( 4UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX5			( 5UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX6			( 6UL << 1UL )
+#define portMPU_RLAR_ATTR_INDEX7			( 7UL << 1UL )
+
+#define portMPU_RLAR_REGION_ENABLE			( 1UL )
+
+/* Enable privileged access to unmapped region. */
+#define portMPU_PRIV_BACKGROUND_ENABLE		( 1UL << 2UL )
+
+/* Enable MPU. */
+#define portMPU_ENABLE						( 1UL << 0UL )
+
+/* Expected value of the portMPU_TYPE register. */
+#define portEXPECTED_MPU_TYPE_VALUE			( 8UL << 8UL ) /* 8 regions, unified. */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Constants required to set up the initial stack.
+ */
+#define portINITIAL_XPSR					( 0x01000000 )
+
+#if( configRUN_FREERTOS_SECURE_ONLY == 1 )
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         FD
+	 * 1111 1111  1111 1111  1111 1111  1111 1101
+	 *
+	 * Bit[6] - 1 --> The exception was taken from the Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 1 --> The exception was taken to the Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xfffffffd )
+#else
+	/**
+	 * @brief Initial EXC_RETURN value.
+	 *
+	 *     FF         FF         FF         BC
+	 * 1111 1111  1111 1111  1111 1111  1011 1100
+	 *
+	 * Bit[6] - 0 --> The exception was taken from the Non-Secure state.
+	 * Bit[5] - 1 --> Do not skip stacking of additional state context.
+	 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
+	 * Bit[3] - 1 --> Return to the Thread mode.
+	 * Bit[2] - 1 --> Restore registers from the process stack.
+	 * Bit[1] - 0 --> Reserved, 0.
+	 * Bit[0] - 0 --> The exception was taken to the Non-Secure state.
+	 */
+	#define portINITIAL_EXC_RETURN			( 0xffffffbc )
+#endif /* configRUN_FREERTOS_SECURE_ONLY */
+
+/**
+ * @brief CONTROL register privileged bit mask.
+ *
+ * Bit[0] in CONTROL register tells the privilege:
+ *  Bit[0] = 0 ==> The task is privileged.
+ *  Bit[0] = 1 ==> The task is not privileged.
+ */
+#define portCONTROL_PRIVILEGED_MASK			( 1UL << 0UL )
+
+/**
+ * @brief Initial CONTROL register values.
+ */
+#define portINITIAL_CONTROL_UNPRIVILEGED	( 0x3 )
+#define portINITIAL_CONTROL_PRIVILEGED		( 0x2 )
+
+/**
+ * @brief Let the user override the pre-loading of the initial LR with the
+ * address of prvTaskExitError() in case it messes up unwinding of the stack
+ * in the debugger.
+ */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS			configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS			prvTaskExitError
+#endif
+
+/**
+ * @brief If portPRELOAD_REGISTERS then registers will be given an initial value
+ * when a task is created. This helps in debugging at the cost of code size.
+ */
+#define portPRELOAD_REGISTERS				1
+
+/**
+ * @brief A task is created without a secure context, and must call
+ * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes
+ * any secure calls.
+ */
+#define portNO_SECURE_CONTEXT				0
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Used to catch tasks that attempt to return from their implementing
+ * function.
+ */
+static void prvTaskExitError( void );
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Setup the Memory Protection Unit (MPU).
+	 */
+	static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_MPU */
+
+#if( configENABLE_FPU == 1 )
+	/**
+	 * @brief Setup the Floating Point Unit (FPU).
+	 */
+	static void prvSetupFPU( void ) PRIVILEGED_FUNCTION;
+#endif /* configENABLE_FPU */
+
+/**
+ * @brief Setup the timer to generate the tick interrupts.
+ *
+ * The implementation in this file is weak to allow application writers to
+ * change the timer used to generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether the current execution context is interrupt.
+ *
+ * @return pdTRUE if the current execution context is interrupt, pdFALSE
+ * otherwise.
+ */
+BaseType_t xPortIsInsideInterrupt( void );
+
+/**
+ * @brief Yield the processor.
+ */
+void vPortYield( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enter critical section.
+ */
+void vPortEnterCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Exit from critical section.
+ */
+void vPortExitCritical( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SysTick handler.
+ */
+void SysTick_Handler( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief C part of SVC handler.
+ */
+portDONT_DISCARD void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) PRIVILEGED_FUNCTION;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Each task maintains its own interrupt status in the critical nesting
+ * variable.
+ */
+static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Saved as part of the task context to indicate which context the
+	 * task is using on the secure side.
+	 */
+	portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT;
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Stop and reset the SysTick. */
+	*( portNVIC_SYSTICK_CTRL ) = 0UL;
+	*( portNVIC_SYSTICK_CURRENT_VALUE ) = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	*( portNVIC_SYSTICK_LOAD ) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	*( portNVIC_SYSTICK_CTRL ) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0UL;
+
+	/* A function that implements a task must not exit or attempt to return to
+	 * its caller as there is nothing to return to. If a task wants to exit it
+	 * should instead call vTaskDelete( NULL ). Artificially force an assert()
+	 * to be triggered if configASSERT() is defined, then stop here so
+	 * application writers can catch the error. */
+	configASSERT( ulCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		 * started to remove a compiler warning about the function being
+		 * defined but never called.  ulDummy is used purely to quieten other
+		 * warnings about code appearing after this function is called - making
+		 * ulDummy volatile makes the compiler think the function could return
+		 * and therefore not output an 'unreachable code' warning for code that
+		 * appears after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __privileged_functions_start__;
+		extern uint32_t * __privileged_functions_end__;
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+		extern uint32_t * __unprivileged_flash_start__;
+		extern uint32_t * __unprivileged_flash_end__;
+		extern uint32_t * __privileged_sram_start__;
+		extern uint32_t * __privileged_sram_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __privileged_functions_start__[];
+		extern uint32_t __privileged_functions_end__[];
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+		extern uint32_t __unprivileged_flash_start__[];
+		extern uint32_t __unprivileged_flash_end__[];
+		extern uint32_t __privileged_sram_start__[];
+		extern uint32_t __privileged_sram_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+
+		/* Check that the MPU is present. */
+		if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
+		{
+			/* MAIR0 - Index 0. */
+			portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+			/* MAIR0 - Index 1. */
+			portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+			/* Setup privileged flash as Read Only so that privileged tasks can
+			 * read it but not modify. */
+			portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged flash as Read Only by both privileged and
+			 * unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup unprivileged syscalls flash as Read Only by both privileged
+			 * and unprivileged tasks. All tasks can read it but no-one can modify. */
+			portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_READ_ONLY );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Setup RAM containing kernel data for privileged access only. */
+			portMPU_RNR_REG = portPRIVILEGED_RAM_REGION;
+			portMPU_RBAR_REG =	( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
+								( portMPU_REGION_NON_SHAREABLE ) |
+								( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+								( portMPU_REGION_EXECUTE_NEVER );
+			portMPU_RLAR_REG =	( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
+								( portMPU_RLAR_ATTR_INDEX0 ) |
+								( portMPU_RLAR_REGION_ENABLE );
+
+			/* Enable mem fault. */
+			portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE;
+
+			/* Enable MPU with privileged background access i.e. unmapped
+			 * regions have privileged access. */
+			portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE | portMPU_ENABLE );
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_FPU == 1 )
+	static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			/* Enable non-secure access to the FPU. */
+			SecureInit_EnableNSFPUAccess();
+		}
+		#endif /* configENABLE_TRUSTZONE */
+
+		/* CP10 = 11 ==> Full access to FPU i.e. both privileged and
+		 * unprivileged code should be able to access FPU. CP11 should be
+		 * programmed to the same value as CP10. */
+		*( portCPACR ) |=	(	( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) |
+								( portCPACR_CP11_VALUE << portCPACR_CP11_POS )
+							);
+
+		/* ASPEN = 1 ==> Hardware should automatically preserve floating point
+		 * context on exception entry and restore on exception return.
+		 * LSPEN = 1 ==> Enable lazy context save of FP state. */
+		*( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK );
+	}
+#endif /* configENABLE_FPU */
+/*-----------------------------------------------------------*/
+
+void vPortYield( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Set a PendSV to request a context switch. */
+	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	portDISABLE_INTERRUPTS();
+	ulCriticalNesting++;
+
+	/* Barriers are normally not required but do ensure the code is
+	 * completely within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" ::: "memory" );
+	__asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */
+{
+	configASSERT( ulCriticalNesting );
+	ulCriticalNesting--;
+
+	if( ulCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
+{
+uint32_t ulPreviousMask;
+
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler_C( uint32_t *pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */
+{
+#if( configENABLE_MPU == 1 )
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+	#endif /* defined( __ARMCC_VERSION ) */
+#endif /* configENABLE_MPU */
+
+uint32_t ulPC;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	uint32_t ulR0;
+	#if( configENABLE_MPU == 1 )
+		uint32_t ulControl, ulIsTaskPrivileged;
+	#endif /* configENABLE_MPU */
+#endif /* configENABLE_TRUSTZONE */
+uint8_t ucSVCNumber;
+
+	/* Register are stored on the stack in the following order - R0, R1, R2, R3,
+	 * R12, LR, PC, xPSR. */
+	ulPC = pulCallerStackAddress[ 6 ];
+	ucSVCNumber = ( ( uint8_t *) ulPC )[ -2 ];
+
+	switch( ucSVCNumber )
+	{
+		#if( configENABLE_TRUSTZONE == 1 )
+			case portSVC_ALLOCATE_SECURE_CONTEXT:
+			{
+				/* R0 contains the stack size passed as parameter to the
+				 * vPortAllocateSecureContext function. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				#if( configENABLE_MPU == 1 )
+				{
+					/* Read the CONTROL register value. */
+					__asm volatile ( "mrs %0, control"  : "=r" ( ulControl ) );
+
+					/* The task that raised the SVC is privileged if Bit[0]
+					 * in the CONTROL register is 0. */
+					ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
+
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged );
+				}
+				#else
+				{
+					/* Allocate and load a context for the secure task. */
+					xSecureContext = SecureContext_AllocateContext( ulR0 );
+				}
+				#endif /* configENABLE_MPU */
+
+				configASSERT( xSecureContext != NULL );
+				SecureContext_LoadContext( xSecureContext );
+			}
+			break;
+
+			case portSVC_FREE_SECURE_CONTEXT:
+			{
+				/* R0 contains the secure context handle to be freed. */
+				ulR0 = pulCallerStackAddress[ 0 ];
+
+				/* Free the secure context. */
+				SecureContext_FreeContext( ( SecureContextHandle_t ) ulR0 );
+			}
+			break;
+		#endif /* configENABLE_TRUSTZONE */
+
+		case portSVC_START_SCHEDULER:
+		{
+			#if( configENABLE_TRUSTZONE == 1 )
+			{
+				/* De-prioritize the non-secure exceptions so that the
+				 * non-secure pendSV runs at the lowest priority. */
+				SecureInit_DePrioritizeNSExceptions();
+
+				/* Initialize the secure context management system. */
+				SecureContext_Init();
+			}
+			#endif /* configENABLE_TRUSTZONE */
+
+			#if( configENABLE_FPU == 1 )
+			{
+				/* Setup the Floating Point Unit (FPU). */
+				prvSetupFPU();
+			}
+			#endif /* configENABLE_FPU */
+
+			/* Setup the context of the first task so that the first task starts
+			 * executing. */
+			vRestoreContextOfFirstTask();
+		}
+		break;
+
+		#if( configENABLE_MPU == 1 )
+			case portSVC_RAISE_PRIVILEGE:
+			{
+				/* Only raise the privilege, if the svc was raised from any of
+				 * the system calls. */
+				if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&
+					ulPC <= ( uint32_t ) __syscalls_flash_end__ )
+				{
+					vRaisePrivilege();
+				}
+			}
+			break;
+		#endif /* configENABLE_MPU */
+
+		default:
+		{
+			/* Incorrect SVC call. */
+			configASSERT( pdFALSE );
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) /* PRIVILEGED_FUNCTION */
+#else
+	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) /* PRIVILEGED_FUNCTION */
+#endif /* configENABLE_MPU */
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	 * interrupt. */
+	#if( portPRELOAD_REGISTERS == 0 )
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack -= 5;											/* R12, R3, R2 and R1. */
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack -= 9;											/* R11..R4, EXC_RETURN. */
+		*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#else /* portPRELOAD_REGISTERS */
+	{
+		pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+		*pxTopOfStack = portINITIAL_XPSR;							/* xPSR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxCode;						/* PC */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x12121212UL;				/* R12 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x03030303UL;				/* R3 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x02020202UL;				/* R2 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x01010101UL;				/* R1 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pvParameters;				/* R0 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x11111111UL;				/* R11 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x10101010UL;				/* R10 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x09090909UL;				/* R09 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x08080808UL;				/* R08 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x07070707UL;				/* R07 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x06060606UL;				/* R06 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x05050505UL;				/* R05 */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x04040404UL;				/* R04 */
+		pxTopOfStack--;
+		*pxTopOfStack = portINITIAL_EXC_RETURN;						/* EXC_RETURN */
+
+		#if( configENABLE_MPU == 1 )
+		{
+			pxTopOfStack--;
+			if( xRunPrivileged == pdTRUE )
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED;		/* Slot used to hold this task's CONTROL value. */
+			}
+			else
+			{
+				*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED;	/* Slot used to hold this task's CONTROL value. */
+			}
+		}
+		#endif /* configENABLE_MPU */
+
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) pxEndOfStack;	/* Slot used to hold this task's PSPLIM value. */
+
+		#if( configENABLE_TRUSTZONE == 1 )
+		{
+			pxTopOfStack--;
+			*pxTopOfStack = portNO_SECURE_CONTEXT;		/* Slot used to hold this task's xSecureContext value. */
+		}
+		#endif /* configENABLE_TRUSTZONE */
+	}
+	#endif /* portPRELOAD_REGISTERS */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+	*( portNVIC_SYSPRI2 ) |= portNVIC_PENDSV_PRI;
+	*( portNVIC_SYSPRI2 ) |= portNVIC_SYSTICK_PRI;
+
+	#if( configENABLE_MPU == 1 )
+	{
+		/* Setup the Memory Protection Unit (MPU). */
+		prvSetupMPU();
+	}
+	#endif /* configENABLE_MPU */
+
+	/* Start the timer that generates the tick ISR. Interrupts are disabled
+	 * here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialize the critical nesting count ready for the first task. */
+	ulCriticalNesting = 0;
+
+	/* Start the first task. */
+	vStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing. Call the task
+	 * exit error function to prevent compiler warnings about a static function
+	 * not being called in the case that the application writer overrides this
+	 * functionality by defining configTASK_RETURN_ADDRESS. Call
+	 * vTaskSwitchContext() so link time optimization does not remove the
+	 * symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */
+{
+	/* Not implemented in ports where there is nothing to return to.
+	 * Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+	{
+	uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber;
+	int32_t lIndex = 0;
+
+		/* Setup MAIR0. */
+		xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
+		xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );
+
+		/* This function is called automatically when the task is created - in
+		 * which case the stack region parameters will be valid.  At all other
+		 * times the stack parameters will not be valid and it is assumed that
+		 * the stack region has already been configured. */
+		if( ulStackDepth > 0 )
+		{
+			/* Define the region that allows access to the stack. */
+			ulRegionStartAddress = ( ( uint32_t ) pxBottomOfStack ) & portMPU_RBAR_ADDRESS_MASK;
+			ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1;
+			ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRBAR =	( ulRegionStartAddress ) |
+															( portMPU_REGION_NON_SHAREABLE ) |
+															( portMPU_REGION_READ_WRITE ) |
+															( portMPU_REGION_EXECUTE_NEVER );
+
+			xMPUSettings->xRegionsSettings[ 0 ].ulRLAR =	( ulRegionEndAddress ) |
+															( portMPU_RLAR_ATTR_INDEX0 ) |
+															( portMPU_RLAR_REGION_ENABLE );
+		}
+
+		/* User supplied configurable regions. */
+		for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ )
+		{
+			/* If xRegions is NULL i.e. the task has not specified any MPU
+			 * region, the else part ensures that all the configurable MPU
+			 * regions are invalidated. */
+			if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) )
+			{
+				/* Translate the generic region definition contained in xRegions
+				 * into the ARMv8 specific MPU settings that are then stored in
+				 * xMPUSettings. */
+				ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK;
+				ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1;
+				ulRegionEndAddress  &= portMPU_RLAR_ADDRESS_MASK;
+
+				/* Start address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR =	( ulRegionStartAddress ) |
+																			( portMPU_REGION_NON_SHAREABLE );
+
+				/* RO/RW. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY );
+				}
+				else
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE );
+				}
+
+				/* XN. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 )
+				{
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER );
+				}
+
+				/* End Address. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR =	( ulRegionEndAddress ) |
+																			( portMPU_RLAR_REGION_ENABLE );
+
+				/* Normal memory/ Device memory. */
+				if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 )
+				{
+					/* Attr1 in MAIR0 is configured as device memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1;
+				}
+				else
+				{
+					/* Attr1 in MAIR0 is configured as normal memory. */
+					xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0;
+				}
+			}
+			else
+			{
+				/* Invalidate the region. */
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL;
+				xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL;
+			}
+
+			lIndex++;
+		}
+	}
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. Interrupt Program
+	 * Status Register (IPSR) holds the exception number of the currently-executing
+	 * exception or zero for Thread mode.*/
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c

@@ -0,0 +1,316 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION
+ * is defined correctly and privileged functions are placed in correct sections. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Portasm includes. */
+#include "portasm.h"
+
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the
+ * header files. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"													\n"
+	"	ldr  r2, pxCurrentTCBConst2						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr  r1, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr  r0, [r1]									\n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	bic r4, #1										\n" /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */
+	"	ldr  r3, [r1]									\n" /* r3 = *r1 i.e. r3 = MAIR0. */
+	"	ldr  r2, xMAIR0Const2							\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str  r3, [r2]									\n" /* Program MAIR0. */
+	"	ldr  r2, xRNRConst2								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	movs r3, #4										\n" /* r3 = 4. */
+	"	str  r3, [r2]									\n" /* Program RNR = 4. */
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
+	"	ldr  r2, xRBARConst2							\n" /* r2 = 0xe000ed9c [Location of RBAR]. */
+	"	ldmia r1!, {r4-r11}								\n" /* Read 4 set of RBAR/RLAR registers from TCB. */
+	"	stmia r2!, {r4-r11}								\n" /* Write 4 set of RBAR/RLAR registers using alias registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst2							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	orr r4, #1										\n" /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldm  r0!, {r1-r3}								\n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */
+	"	msr  psplim, r1									\n" /* Set this task's PSPLIM value. */
+	"	msr  control, r2								\n" /* Set this task's CONTROL value. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r3											\n" /* Finally, branch to EXC_RETURN. */
+	#else /* configENABLE_MPU */
+	"	ldm  r0!, {r1-r2}								\n" /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */
+	"	msr  psplim, r1									\n" /* Set this task's PSPLIM value. */
+	"	movs r1, #2										\n" /* r1 = 2. */
+	"	msr  CONTROL, r1								\n" /* Switch to use PSP in the thread mode. */
+	"	adds r0, #32									\n" /* Discard everything up to r0. */
+	"	msr  psp, r0									\n" /* This is now the new top of stack to use in the task. */
+	"	isb												\n"
+	"	bx   r2											\n" /* Finally, branch to EXC_RETURN. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst2: .word 0xe000ed94					\n"
+	"xMAIR0Const2: .word 0xe000edc0						\n"
+	"xRNRConst2: .word 0xe000ed98						\n"
+	"xRBARConst2: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	);
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	tst r0, #1										\n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
+	"	ite ne											\n"
+	"	movne r0, #0									\n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+	"	moveq r0, #1									\n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+	"	bx lr											\n" /* Return. */
+	"													\n"
+	"	.align 4										\n"
+	::: "r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	 __asm volatile
+	(
+	"	mrs  r0, control								\n" /* Read the CONTROL register. */
+	"	bic r0, #1										\n" /* Clear the bit 0. */
+	"	msr  control, r0								\n" /* Write back the new CONTROL value. */
+	"	bx lr											\n" /* Return to the caller. */
+	::: "r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control									\n" /* r0 = CONTROL. */
+	"	orr r0, #1										\n" /* r0 = r0 | 1. */
+	"	msr control, r0									\n" /* CONTROL = r0. */
+	"	bx lr											\n" /* Return to the caller. */
+	:::"r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	ldr r0, xVTORConst								\n" /* Use the NVIC offset register to locate the stack. */
+	"	ldr r0, [r0]									\n" /* Read the VTOR register which gives the address of vector table. */
+	"	ldr r0, [r0]									\n" /* The first entry in vector table is stack pointer. */
+	"	msr msp, r0										\n" /* Set the MSP back to the start of the stack. */
+	"	cpsie i											\n" /* Globally enable interrupts. */
+	"	cpsie f											\n"
+	"	dsb												\n"
+	"	isb												\n"
+	"	svc %0											\n" /* System call to start the first task. */
+	"	nop												\n"
+	"													\n"
+	"   .align 4										\n"
+	"xVTORConst: .word 0xe000ed08						\n"
+	:: "i" ( portSVC_START_SCHEDULER ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	mrs r0, basepri									\n" /* r0 = basepri. Return original basepri value. */
+	"	mov r1, %0										\n" /* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+	"	msr basepri, r1									\n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	bx lr											\n" /* Return. */
+	:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	msr basepri, r0									\n" /* basepri = ulMask. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	bx lr											\n" /* Return. */
+	::: "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	.syntax unified									\n"
+	"													\n"
+	"	mrs r0, psp										\n" /* Read PSP in r0. */
+	#if( configENABLE_FPU == 1 )
+	"	tst lr, #0x10									\n" /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */
+	"	it eq											\n"
+	"	vstmdbeq r0!, {s16-s31}							\n" /* Store the FPU registers which are not saved automatically. */
+	#endif /* configENABLE_FPU */
+	#if( configENABLE_MPU == 1 )
+	"	mrs r1, psplim									\n" /* r1 = PSPLIM. */
+	"	mrs r2, control									\n" /* r2 = CONTROL. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmdb r0!, {r1-r11}								\n" /* Store on the stack - PSPLIM, CONTROL, LR and registers that are not automatically saved. */
+	#else /* configENABLE_MPU */
+	"	mrs r2, psplim									\n" /* r2 = PSPLIM. */
+	"	mov r3, lr										\n" /* r3 = LR/EXC_RETURN. */
+	"	stmdb r0!, {r2-r11}								\n" /* Store on the stack - PSPLIM, LR and registers that are not automatically saved. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	"	ldr r2, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r1, [r2]									\n" /* Read pxCurrentTCB. */
+	"	str r0, [r1]									\n" /* Save the new top of stack in TCB. */
+	"													\n"
+	"	mov r0, %0										\n" /* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */
+	"	msr basepri, r0									\n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+	"	dsb												\n"
+	"	isb												\n"
+	"	bl vTaskSwitchContext							\n"
+	"	mov r0, #0										\n" /* r0 = 0. */
+	"	msr basepri, r0									\n" /* Enable interrupts. */
+	"													\n"
+	"	ldr r2, pxCurrentTCBConst						\n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
+	"	ldr r1, [r2]									\n" /* Read pxCurrentTCB. */
+	"	ldr r0, [r1]									\n" /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	dmb												\n" /* Complete outstanding transfers before disabling MPU. */
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	bic r4, #1										\n" /* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Disable MPU. */
+	"													\n"
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */
+	"	ldr r3, [r1]									\n" /* r3 = *r1 i.e. r3 = MAIR0. */
+	"	ldr r2, xMAIR0Const								\n" /* r2 = 0xe000edc0 [Location of MAIR0]. */
+	"	str r3, [r2]									\n" /* Program MAIR0. */
+	"	ldr r2, xRNRConst								\n" /* r2 = 0xe000ed98 [Location of RNR]. */
+	"	movs r3, #4										\n" /* r3 = 4. */
+	"	str r3, [r2]									\n" /* Program RNR = 4. */
+	"	adds r1, #4										\n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
+	"	ldr r2, xRBARConst								\n" /* r2 = 0xe000ed9c [Location of RBAR]. */
+	"	ldmia r1!, {r4-r11}								\n" /* Read 4 sets of RBAR/RLAR registers from TCB. */
+	"	stmia r2!, {r4-r11}								\n" /* Write 4 set of RBAR/RLAR registers using alias registers. */
+	"													\n"
+	"	ldr r2, xMPUCTRLConst							\n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
+	"	ldr r4, [r2]									\n" /* Read the value of MPU_CTRL. */
+	"	orr r4, #1										\n" /* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
+	"	str r4, [r2]									\n" /* Enable MPU. */
+	"	dsb												\n" /* Force memory writes before continuing. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	ldmia r0!, {r1-r11}								\n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */
+	#else /* configENABLE_MPU */
+	"	ldmia r0!, {r2-r11}								\n" /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */
+	#endif /* configENABLE_MPU */
+	"													\n"
+	#if( configENABLE_FPU == 1 )
+	"	tst r3, #0x10									\n" /* Test Bit[4] in LR. Bit[4] of EXC_RETURN is 0 if the FPU is in use. */
+	"	it eq											\n"
+	"	vldmiaeq r0!, {s16-s31}							\n" /* Restore the FPU registers which are not restored automatically. */
+	#endif /* configENABLE_FPU */
+	"													\n"
+	#if( configENABLE_MPU == 1 )
+	"	msr psplim, r1									\n" /* Restore the PSPLIM register value for the task. */
+	"	msr control, r2									\n" /* Restore the CONTROL register value for the task. */
+	#else /* configENABLE_MPU */
+	"	msr psplim, r2									\n" /* Restore the PSPLIM register value for the task. */
+	#endif /* configENABLE_MPU */
+	"	msr psp, r0										\n" /* Remember the new top of stack for the task. */
+	"	bx r3											\n"
+	"													\n"
+	"	.align 4										\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB				\n"
+	#if( configENABLE_MPU == 1 )
+	"xMPUCTRLConst: .word 0xe000ed94					\n"
+	"xMAIR0Const: .word 0xe000edc0						\n"
+	"xRNRConst: .word 0xe000ed98						\n"
+	"xRBARConst: .word 0xe000ed9c						\n"
+	#endif /* configENABLE_MPU */
+	:: "i"( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+	);
+}
+/*-----------------------------------------------------------*/
+
+void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
+{
+	__asm volatile
+	(
+	"	tst lr, #4										\n"
+	"	ite eq											\n"
+	"	mrseq r0, msp									\n"
+	"	mrsne r0, psp									\n"
+	"	ldr r1, svchandler_address_const				\n"
+	"	bx r1											\n"
+	"													\n"
+	"	.align 4										\n"
+	"svchandler_address_const: .word vPortSVCHandler_C	\n"
+	);
+}
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33_NTZ/non_secure/portasm.h

@@ -0,0 +1,113 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef __PORT_ASM_H__
+#define __PORT_ASM_H__
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+
+/* MPU wrappers includes. */
+#include "mpu_wrappers.h"
+
+/**
+ * @brief Restore the context of the first task so that the first task starts
+ * executing.
+ */
+void vRestoreContextOfFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Raises the privilege level by clearing the bit 0 of the CONTROL
+ * register.
+ *
+ * @note This is a privileged function and should only be called from the kenrel
+ * code.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vResetPrivilege( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Starts the first task.
+ */
+void vStartFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Disables interrupts.
+ */
+uint32_t ulSetInterruptMask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Enables interrupts.
+ */
+void vClearInterruptMask( uint32_t ulMask ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief PendSV Exception handler.
+ */
+void PendSV_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief SVC Handler.
+ */
+void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Allocate a Secure context for the calling task.
+ *
+ * @param[in] ulSecureStackSize The size of the stack to be allocated on the
+ * secure side for the calling task.
+ */
+void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__ (( naked ));
+
+/**
+ * @brief Free the task's secure context.
+ *
+ * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task.
+ */
+void vPortFreeSecureContext( uint32_t *pulTCB ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+#endif /* __PORT_ASM_H__ */

portable/GCC/ARM_CM33_NTZ/non_secure/portmacro.h

@@ -0,0 +1,301 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*------------------------------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *------------------------------------------------------------------------------
+ */
+
+#ifndef configENABLE_FPU
+	#error configENABLE_FPU must be defined in FreeRTOSConfig.h.  Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU.
+#endif /* configENABLE_FPU */
+
+#ifndef configENABLE_MPU
+	#error configENABLE_MPU must be defined in FreeRTOSConfig.h.  Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU.
+#endif /* configENABLE_MPU */
+
+#ifndef configENABLE_TRUSTZONE
+	#error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h.  Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone.
+#endif /* configENABLE_TRUSTZONE */
+
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Type definitions.
+ */
+#define portCHAR											char
+#define portFLOAT											float
+#define portDOUBLE											double
+#define portLONG											long
+#define portSHORT											short
+#define portSTACK_TYPE										uint32_t
+#define portBASE_TYPE										long
+
+typedef portSTACK_TYPE										StackType_t;
+typedef long												BaseType_t;
+typedef unsigned long										UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t )					0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	 * not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC							1
+#endif
+/*-----------------------------------------------------------*/
+
+/**
+ * Architecture specifics.
+ */
+#define portARCH_NAME										"Cortex-M33"
+#define portSTACK_GROWTH									( -1 )
+#define portTICK_PERIOD_MS									( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT									8
+#define portNOP()
+#define portINLINE											__inline
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE								inline __attribute__(( always_inline ))
+#endif
+#define portHAS_STACK_OVERFLOW_CHECKING						1
+#define portDONT_DISCARD									__attribute__(( used ))
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Extern declarations.
+ */
+extern BaseType_t xPortIsInsideInterrupt( void );
+
+extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
+
+extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
+extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
+
+extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
+
+#if( configENABLE_TRUSTZONE == 1 )
+	extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
+	extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
+#endif /* configENABLE_TRUSTZONE */
+
+#if( configENABLE_MPU == 1 )
+	extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
+	extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief MPU specific constants.
+ */
+#if( configENABLE_MPU == 1 )
+	#define portUSING_MPU_WRAPPERS							1
+	#define portPRIVILEGE_BIT								( 0x80000000UL )
+#else
+	#define portPRIVILEGE_BIT								( 0x0UL )
+#endif /* configENABLE_MPU */
+
+
+/* MPU regions. */
+#define portPRIVILEGED_FLASH_REGION							( 0UL )
+#define portUNPRIVILEGED_FLASH_REGION						( 1UL )
+#define portUNPRIVILEGED_SYSCALLS_REGION					( 2UL )
+#define portPRIVILEGED_RAM_REGION							( 3UL )
+#define portSTACK_REGION									( 4UL )
+#define portFIRST_CONFIGURABLE_REGION						( 5UL )
+#define portLAST_CONFIGURABLE_REGION						( 7UL )
+#define portNUM_CONFIGURABLE_REGIONS						( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
+#define portTOTAL_NUM_REGIONS								( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
+
+/* Device memory attributes used in MPU_MAIR registers.
+ *
+ * 8-bit values encoded as follows:
+ *  Bit[7:4] - 0000 - Device Memory
+ *  Bit[3:2] - 00 --> Device-nGnRnE
+ *				01 --> Device-nGnRE
+ *				10 --> Device-nGRE
+ *				11 --> Device-GRE
+ *  Bit[1:0] - 00, Reserved.
+ */
+#define portMPU_DEVICE_MEMORY_nGnRnE						( 0x00 ) /* 0000 0000 */
+#define portMPU_DEVICE_MEMORY_nGnRE							( 0x04 ) /* 0000 0100 */
+#define portMPU_DEVICE_MEMORY_nGRE							( 0x08 ) /* 0000 1000 */
+#define portMPU_DEVICE_MEMORY_GRE							( 0x0C ) /* 0000 1100 */
+
+/* Normal memory attributes used in MPU_MAIR registers. */
+#define portMPU_NORMAL_MEMORY_NON_CACHEABLE					( 0x44 ) /* Non-cacheable. */
+#define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE			( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
+
+/* Attributes used in MPU_RBAR registers. */
+#define portMPU_REGION_NON_SHAREABLE						( 0UL << 3UL )
+#define portMPU_REGION_INNER_SHAREABLE						( 1UL << 3UL )
+#define portMPU_REGION_OUTER_SHAREABLE						( 2UL << 3UL )
+
+#define portMPU_REGION_PRIVILEGED_READ_WRITE				( 0UL << 1UL )
+#define portMPU_REGION_READ_WRITE							( 1UL << 1UL )
+#define portMPU_REGION_PRIVILEGED_READ_ONLY					( 2UL << 1UL )
+#define portMPU_REGION_READ_ONLY							( 3UL << 1UL )
+
+#define portMPU_REGION_EXECUTE_NEVER						( 1UL )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Settings to define an MPU region.
+ */
+typedef struct MPURegionSettings
+{
+	uint32_t ulRBAR;	/**< RBAR for the region. */
+	uint32_t ulRLAR;	/**< RLAR for the region. */
+} MPURegionSettings_t;
+
+/**
+ * @brief MPU settings as stored in the TCB.
+ */
+typedef struct MPU_SETTINGS
+{
+	uint32_t ulMAIR0;	/**< MAIR0 for the task containing attributes for all the 4 per task regions. */
+	MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
+} xMPU_SETTINGS;
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief SVC numbers.
+ */
+#define portSVC_ALLOCATE_SECURE_CONTEXT						0
+#define portSVC_FREE_SECURE_CONTEXT							1
+#define portSVC_START_SCHEDULER								2
+#define portSVC_RAISE_PRIVILEGE								3
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Scheduler utilities.
+ */
+#define portYIELD()											vPortYield()
+#define portNVIC_INT_CTRL_REG								( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT								( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired )			if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x )								portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Critical section management.
+ */
+#define portSET_INTERRUPT_MASK_FROM_ISR()					ulSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)				vClearInterruptMask( x )
+#define portDISABLE_INTERRUPTS()							ulSetInterruptMask()
+#define portENABLE_INTERRUPTS()								vClearInterruptMask( 0 )
+#define portENTER_CRITICAL()								vPortEnterCritical()
+#define portEXIT_CRITICAL()									vPortExitCritical()
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Task function macros as described on the FreeRTOS.org WEB site.
+ */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )		void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_TRUSTZONE == 1 )
+	/**
+	 * @brief Allocate a secure context for the task.
+	 *
+	 * Tasks are not created with a secure context. Any task that is going to call
+	 * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
+	 * secure context before it calls any secure function.
+	 *
+	 * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
+	 */
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )	vPortAllocateSecureContext( ulSecureStackSize )
+
+	/**
+	 * @brief Called when a task is deleted to delete the task's secure context,
+	 * if it has one.
+	 *
+	 * @param[in] pxTCB The TCB of the task being deleted.
+	 */
+	#define portCLEAN_UP_TCB( pxTCB )							vPortFreeSecureContext( ( uint32_t * ) pxTCB )
+#else
+	#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )
+	#define portCLEAN_UP_TCB( pxTCB )
+#endif /* configENABLE_TRUSTZONE */
+/*-----------------------------------------------------------*/
+
+#if( configENABLE_MPU == 1 )
+	/**
+	 * @brief Checks whether or not the processor is privileged.
+	 *
+	 * @return 1 if the processor is already privileged, 0 otherwise.
+	 */
+	#define portIS_PRIVILEGED()									xIsPrivileged()
+
+	/**
+	 * @brief Raise an SVC request to raise privilege.
+	 *
+	 * The SVC handler checks that the SVC was raised from a system call and only
+	 * then it raises the privilege. If this is called from any other place,
+	 * the privilege is not raised.
+	 */
+	#define portRAISE_PRIVILEGE()								__asm volatile ( "svc %0 \n" :: "i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+
+	/**
+	 * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+	 * register.
+	 */
+	#define portRESET_PRIVILEGE()								vResetPrivilege()
+#else
+	#define portIS_PRIVILEGED()
+	#define portRAISE_PRIVILEGE()
+	#define portRESET_PRIVILEGE()
+#endif /* configENABLE_MPU */
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Barriers.
+ */
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+/*-----------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

portable/GCC/ARM_CM3_MPU/port.c

@@ -0,0 +1,857 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM3 port.
+ *----------------------------------------------------------*/
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+	/* Ensure the SysTick is clocked at the same frequency as the core. */
+	#define portNVIC_SYSTICK_CLK	( 1UL << 2UL )
+#else
+	/* The way the SysTick is clocked is not modified in case it is not the same
+	 * as the core. */
+	#define portNVIC_SYSTICK_CLK	( 0 )
+#endif
+
+/* Constants required to access and manipulate the NVIC. */
+#define portNVIC_SYSTICK_CTRL_REG				( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG				( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG		( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG					( *	( ( volatile uint32_t * ) 0xe000ed20 ) )
+#define portNVIC_SYSPRI1_REG					( * ( ( volatile uint32_t * ) 0xe000ed1c ) )
+#define portNVIC_SYS_CTRL_STATE_REG				( * ( ( volatile uint32_t * ) 0xe000ed24 ) )
+#define portNVIC_MEM_FAULT_ENABLE				( 1UL << 16UL )
+
+/* Constants required to access and manipulate the MPU. */
+#define portMPU_TYPE_REG						( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
+#define portMPU_REGION_BASE_ADDRESS_REG			( * ( ( volatile uint32_t * ) 0xe000ed9C ) )
+#define portMPU_REGION_ATTRIBUTE_REG			( * ( ( volatile uint32_t * ) 0xe000edA0 ) )
+#define portMPU_CTRL_REG						( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
+#define portEXPECTED_MPU_TYPE_VALUE				( 8UL << 8UL ) /* 8 regions, unified. */
+#define portMPU_ENABLE							( 0x01UL )
+#define portMPU_BACKGROUND_ENABLE				( 1UL << 2UL )
+#define portPRIVILEGED_EXECUTION_START_ADDRESS	( 0UL )
+#define portMPU_REGION_VALID					( 0x10UL )
+#define portMPU_REGION_ENABLE					( 0x01UL )
+#define portPERIPHERALS_START_ADDRESS			0x40000000UL
+#define portPERIPHERALS_END_ADDRESS				0x5FFFFFFFUL
+
+/* Constants required to access and manipulate the SysTick. */
+#define portNVIC_SYSTICK_INT					( 0x00000002UL )
+#define portNVIC_SYSTICK_ENABLE					( 0x00000001UL )
+#define portNVIC_PENDSV_PRI						( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+#define portNVIC_SVC_PRI						( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR						( 0x01000000 )
+#define portINITIAL_CONTROL_IF_UNPRIVILEGED		( 0x03 )
+#define portINITIAL_CONTROL_IF_PRIVILEGED		( 0x02 )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER			( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 		( 0xE000E3F0 )
+#define portAIRCR_REG							( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE						( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE						( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS					( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK					( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT						( 8UL )
+
+/* Offsets in the stack to the parameters when inside the SVC handler. */
+#define portOFFSET_TO_PC						( 6 )
+
+/* For strict compliance with the Cortex-M spec the task start address should
+ * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
+#define portSTART_ADDRESS_MASK					( ( StackType_t ) 0xfffffffeUL )
+/*-----------------------------------------------------------*/
+
+/*
+ * Configure a number of standard MPU regions that are used by all tasks.
+ */
+static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Return the smallest MPU region size that a given number of bytes will fit
+ * into.  The region size is returned as the value that should be programmed
+ * into the region attribute register for that region.
+ */
+static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION;
+
+/*
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Standard FreeRTOS exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+void xPortSysTickHandler( void )  __attribute__ ((optimize("3"))) PRIVILEGED_FUNCTION;
+void vPortSVCHandler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/*
+ * Starts the scheduler by restoring the context of the first task to run.
+ */
+static void prvRestoreContextOfFirstTask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/*
+ * C portion of the SVC handler.  The SVC handler is split between an asm entry
+ * and a C wrapper for simplicity of coding and maintenance.
+ */
+static void prvSVCHandler( uint32_t *pulRegisters ) __attribute__(( noinline )) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vResetPrivilege( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Calls the port specific code to raise the privilege.
+ *
+ * @return pdFALSE if privilege was raised, pdTRUE otherwise.
+ */
+extern BaseType_t xPortRaisePrivilege( void );
+
+/**
+ * @brief If xRunningPrivileged is not pdTRUE, calls the port specific
+ * code to reset the privilege, otherwise does nothing.
+ */
+extern void vPortResetPrivilege( BaseType_t xRunningPrivileged );
+/*-----------------------------------------------------------*/
+
+/* Each task maintains its own interrupt status in the critical nesting
+ * variable.  Note this is not saved as part of the task context as context
+ * switches can only occur when uxCriticalNesting is zero. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static uint8_t ucMaxSysCallPriority = 0;
+	 static uint32_t ulMaxPRIGROUPValue = 0;
+	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	 * interrupt. */
+	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
+	pxTopOfStack--;
+	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
+	pxTopOfStack--;
+	*pxTopOfStack = 0;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+	pxTopOfStack -= 9;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+	if( xRunPrivileged == pdTRUE )
+	{
+		*pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED;
+	}
+	else
+	{
+		*pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED;
+	}
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+	/* Assumes psp was in use. */
+	__asm volatile
+	(
+		#ifndef USE_PROCESS_STACK	/* Code should not be required if a main() is using the process stack. */
+			"	tst lr, #4						\n"
+			"	ite eq							\n"
+			"	mrseq r0, msp					\n"
+			"	mrsne r0, psp					\n"
+		#else
+			"	mrs r0, psp						\n"
+		#endif
+			"	b %0							\n"
+			::"i"(prvSVCHandler):"r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+static void prvSVCHandler(	uint32_t *pulParam )
+{
+uint8_t ucSVCNumber;
+uint32_t ulPC;
+#if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 )
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		 * exported from linker scripts. */
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+	#endif /* #if defined( __ARMCC_VERSION ) */
+#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */
+
+	/* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR.  The first
+	 * argument (r0) is pulParam[ 0 ]. */
+	ulPC = pulParam[ portOFFSET_TO_PC ];
+	ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ];
+
+	switch( ucSVCNumber )
+	{
+		case portSVC_START_SCHEDULER	:	portNVIC_SYSPRI1_REG |= portNVIC_SVC_PRI;
+											prvRestoreContextOfFirstTask();
+											break;
+
+		case portSVC_YIELD				:	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+											/* Barriers are normally not required
+											 * but do ensure the code is completely
+											 * within the specified behaviour for the
+											 * architecture. */
+											__asm volatile( "dsb" ::: "memory" );
+											__asm volatile( "isb" );
+
+											break;
+
+
+	#if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 )
+		case portSVC_RAISE_PRIVILEGE	:	/* Only raise the privilege, if the
+											 * svc was raised from any of the
+											 * system calls. */
+											if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&
+												ulPC <= ( uint32_t ) __syscalls_flash_end__ )
+											{
+												__asm volatile
+												(
+													"	mrs r1, control		\n" /* Obtain current control value. */
+													"	bic r1, #1			\n" /* Set privilege bit. */
+													"	msr control, r1		\n" /* Write back new control value. */
+													::: "r1", "memory"
+												);
+											}
+											break;
+	#else
+		case portSVC_RAISE_PRIVILEGE	:	__asm volatile
+											(
+												"	mrs r1, control		\n" /* Obtain current control value. */
+												"	bic r1, #1			\n" /* Set privilege bit. */
+												"	msr control, r1		\n" /* Write back new control value. */
+												::: "r1", "memory"
+											);
+											break;
+	#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */
+
+		default							:	/* Unknown SVC call. */
+											break;
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvRestoreContextOfFirstTask( void )
+{
+	__asm volatile
+	(
+		"	ldr r0, =0xE000ED08				\n" /* Use the NVIC offset register to locate the stack. */
+		"	ldr r0, [r0]					\n"
+		"	ldr r0, [r0]					\n"
+		"	msr msp, r0						\n" /* Set the msp back to the start of the stack. */
+		"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
+		"	ldr r1, [r3]					\n"
+		"	ldr r0, [r1]					\n" /* The first item in the TCB is the task top of stack. */
+		"	add r1, r1, #4					\n" /* Move onto the second item in the TCB... */
+		"									\n"
+		"	dmb								\n" /* Complete outstanding transfers before disabling MPU. */
+		"	ldr r2, =0xe000ed94				\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]					\n" /* Read the value of MPU_CTRL. */
+		"	bic r3, #1						\n" /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
+		"	str r3, [r2]					\n" /* Disable MPU. */
+		"									\n"
+		"	ldr r2, =0xe000ed9c				\n" /* Region Base Address register. */
+		"	ldmia r1!, {r4-r11}				\n" /* Read 4 sets of MPU registers. */
+		"	stmia r2!, {r4-r11}				\n" /* Write 4 sets of MPU registers. */
+		"									\n"
+		"	ldr r2, =0xe000ed94				\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]					\n" /* Read the value of MPU_CTRL. */
+		"	orr r3, #1						\n" /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
+		"	str r3, [r2]					\n" /* Enable MPU. */
+		"	dsb								\n" /* Force memory writes before continuing. */
+		"									\n"
+		"	ldmia r0!, {r3, r4-r11}			\n" /* Pop the registers that are not automatically saved on exception entry. */
+		"	msr control, r3					\n"
+		"	msr psp, r0						\n" /* Restore the task stack pointer. */
+		"	mov r0, #0						\n"
+		"	msr	basepri, r0					\n"
+		"	ldr r14, =0xfffffffd			\n" /* Load exec return code. */
+		"	bx r14							\n"
+		"									\n"
+		"	.align 4						\n"
+		"pxCurrentTCBConst2: .word pxCurrentTCB	\n"
+	);
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.  See
+	 * http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+	configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		 * functions can be called.  ISR safe functions are those that end in
+		 * "FromISR".  FreeRTOS maintains separate thread and ISR API functions
+		 * to ensure interrupt entry is as fast and simple as possible.
+
+		 * Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		 * possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		 * of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+		}
+
+		#ifdef __NVIC_PRIO_BITS
+		{
+			/* Check the CMSIS configuration that defines the number of
+			 * priority bits matches the number of priority bits actually queried
+			 * from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
+		}
+		#endif
+
+		#ifdef configPRIO_BITS
+		{
+			/* Check the FreeRTOS configuration that defines the number of
+			 * priority bits matches the number of priority bits actually queried
+			 * from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
+		}
+		#endif
+
+		/* Shift the priority group value back to its position within the AIRCR
+		 * register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		 * value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the same priority as the kernel, and the SVC
+	 * handler higher priority so it can be used to exit a critical section (where
+	 * lower priorities are masked). */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+	/* Configure the regions in the MPU that are common to all tasks. */
+	prvSetupMPU();
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	 * here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialise the critical nesting count ready for the first task. */
+	uxCriticalNesting = 0;
+
+	/* Start the first task. */
+	__asm volatile(
+					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
+					" ldr r0, [r0] 			\n"
+					" ldr r0, [r0] 			\n"
+					" msr msp, r0			\n" /* Set the msp back to the start of the stack. */
+					" cpsie i				\n" /* Globally enable interrupts. */
+					" cpsie f				\n"
+					" dsb					\n"
+					" isb					\n"
+					" svc %0				\n" /* System call to start first task. */
+					" nop					\n"
+					:: "i" (portSVC_START_SCHEDULER) : "memory" );
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	 * Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+BaseType_t xRunningPrivileged = xPortRaisePrivilege();
+
+	portDISABLE_INTERRUPTS();
+	uxCriticalNesting++;
+
+	vPortResetPrivilege( xRunningPrivileged );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+BaseType_t xRunningPrivileged = xPortRaisePrivilege();
+
+	configASSERT( uxCriticalNesting );
+	uxCriticalNesting--;
+	if( uxCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+	vPortResetPrivilege( xRunningPrivileged );
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+	/* This is a naked function. */
+
+	__asm volatile
+	(
+		"	mrs r0, psp							\n"
+		"										\n"
+		"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
+		"	ldr	r2, [r3]						\n"
+		"										\n"
+		"	mrs r1, control						\n"
+		"	stmdb r0!, {r1, r4-r11}				\n" /* Save the remaining registers. */
+		"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
+		"										\n"
+		"	stmdb sp!, {r3, r14}				\n"
+		"	mov r0, %0							\n"
+		"	msr basepri, r0						\n"
+		"	dsb									\n"
+		"	isb									\n"
+		"	bl vTaskSwitchContext				\n"
+		"	mov r0, #0							\n"
+		"	msr basepri, r0						\n"
+		"	ldmia sp!, {r3, r14}				\n"
+		"										\n"	/* Restore the context. */
+		"	ldr r1, [r3]						\n"
+		"	ldr r0, [r1]						\n" /* The first item in the TCB is the task top of stack. */
+		"	add r1, r1, #4						\n" /* Move onto the second item in the TCB... */
+		"										\n"
+		"	dmb									\n" /* Complete outstanding transfers before disabling MPU. */
+		"	ldr r2, =0xe000ed94					\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]						\n" /* Read the value of MPU_CTRL. */
+		"	bic r3, #1							\n" /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
+		"	str r3, [r2]						\n" /* Disable MPU. */
+		"										\n"
+		"	ldr r2, =0xe000ed9c					\n" /* Region Base Address register. */
+		"	ldmia r1!, {r4-r11}					\n" /* Read 4 sets of MPU registers. */
+		"	stmia r2!, {r4-r11}					\n" /* Write 4 sets of MPU registers. */
+		"										\n"
+		"	ldr r2, =0xe000ed94					\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]						\n" /* Read the value of MPU_CTRL. */
+		"	orr r3, #1							\n" /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
+		"	str r3, [r2]						\n" /* Enable MPU. */
+		"	dsb									\n" /* Force memory writes before continuing. */
+		"										\n"
+		"	ldmia r0!, {r3, r4-r11}				\n" /* Pop the registers that are not automatically saved on exception entry. */
+		"	msr control, r3						\n"
+		"										\n"
+		"	msr psp, r0							\n"
+		"	bx r14								\n"
+		"										\n"
+		"	.align 4							\n"
+		"pxCurrentTCBConst: .word pxCurrentTCB	\n"
+		::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+	);
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+uint32_t ulDummy;
+
+	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+	/* Stop and clear the SysTick. */
+	portNVIC_SYSTICK_CTRL_REG = 0UL;
+	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE );
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupMPU( void )
+{
+extern uint32_t __privileged_functions_end__[];
+extern uint32_t __FLASH_segment_start__[];
+extern uint32_t __FLASH_segment_end__[];
+extern uint32_t __privileged_data_start__[];
+extern uint32_t __privileged_data_end__[];
+
+	/* Check the expected MPU is present. */
+	if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
+	{
+		/* First setup the entire flash for unprivileged read only access. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */
+											( portMPU_REGION_VALID ) |
+											( portUNPRIVILEGED_FLASH_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_READ_ONLY ) |
+										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+										( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) |
+										( portMPU_REGION_ENABLE );
+
+		/* Setup the first 16K for privileged only access (even though less
+		 * than 10K is actually being used).  This is where the kernel code is
+		 * placed. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */
+											( portMPU_REGION_VALID ) |
+											( portPRIVILEGED_FLASH_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_PRIVILEGED_READ_ONLY ) |
+										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+										( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) |
+										( portMPU_REGION_ENABLE );
+
+		/* Setup the privileged data RAM region.  This is where the kernel data
+		 * is placed. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */
+											( portMPU_REGION_VALID ) |
+											( portPRIVILEGED_RAM_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+										prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) |
+										( portMPU_REGION_ENABLE );
+
+		/* By default allow everything to access the general peripherals.  The
+		 * system peripherals and registers are protected. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( portPERIPHERALS_START_ADDRESS ) |
+											( portMPU_REGION_VALID ) |
+											( portGENERAL_PERIPHERALS_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) |
+										( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) |
+										( portMPU_REGION_ENABLE );
+
+		/* Enable the memory fault exception. */
+		portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE;
+
+		/* Enable the MPU with the background region configured. */
+		portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes )
+{
+uint32_t ulRegionSize, ulReturnValue = 4;
+
+	/* 32 is the smallest region size, 31 is the largest valid value for
+	 * ulReturnValue. */
+	for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) )
+	{
+		if( ulActualSizeInBytes <= ulRegionSize )
+		{
+			break;
+		}
+		else
+		{
+			ulReturnValue++;
+		}
+	}
+
+	/* Shift the code by one before returning so it can be written directly
+	 * into the the correct bit position of the attribute register. */
+	return ( ulReturnValue << 1UL );
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control							\n" /* r0 = CONTROL. */
+	"	tst r0, #1								\n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
+	"	ite ne									\n"
+	"	movne r0, #0							\n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+	"	moveq r0, #1							\n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+	"	bx lr									\n" /* Return. */
+	"											\n"
+	"	.align 4								\n"
+	::: "r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control							\n" /* r0 = CONTROL. */
+	"	orr r0, #1								\n" /* r0 = r0 | 1. */
+	"	msr control, r0							\n" /* CONTROL = r0. */
+	"	bx lr									\n" /* Return to the caller. */
+	:::"r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+{
+extern uint32_t __SRAM_segment_start__[];
+extern uint32_t __SRAM_segment_end__[];
+extern uint32_t __privileged_data_start__[];
+extern uint32_t __privileged_data_end__[];
+int32_t lIndex;
+uint32_t ul;
+
+	if( xRegions == NULL )
+	{
+		/* No MPU regions are specified so allow access to all RAM. */
+		xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
+				( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */
+				( portMPU_REGION_VALID ) |
+				( portSTACK_REGION );
+
+		xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
+				( portMPU_REGION_READ_WRITE ) |
+				( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+				( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) |
+				( portMPU_REGION_ENABLE );
+
+		/* Re-instate the privileged only RAM region as xRegion[ 0 ] will have
+		 * just removed the privileged only parameters. */
+		xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress =
+				( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */
+				( portMPU_REGION_VALID ) |
+				( portSTACK_REGION + 1 );
+
+		xMPUSettings->xRegion[ 1 ].ulRegionAttribute =
+				( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+				( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+				prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) |
+				( portMPU_REGION_ENABLE );
+
+		/* Invalidate all other regions. */
+		for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
+		{
+			xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
+			xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
+		}
+	}
+	else
+	{
+		/* This function is called automatically when the task is created - in
+		 * which case the stack region parameters will be valid.  At all other
+		 * times the stack parameters will not be valid and it is assumed that the
+		 * stack region has already been configured. */
+		if( ulStackDepth > 0 )
+		{
+			/* Define the region that allows access to the stack. */
+			xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
+					( ( uint32_t ) pxBottomOfStack ) |
+					( portMPU_REGION_VALID ) |
+					( portSTACK_REGION ); /* Region number. */
+
+			xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
+					( portMPU_REGION_READ_WRITE ) | /* Read and write. */
+					( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) |
+					( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+					( portMPU_REGION_ENABLE );
+		}
+
+		lIndex = 0;
+
+		for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
+		{
+			if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL )
+			{
+				/* Translate the generic region definition contained in
+				 * xRegions into the CM3 specific MPU settings that are then
+				 * stored in xMPUSettings. */
+				xMPUSettings->xRegion[ ul ].ulRegionBaseAddress =
+						( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) |
+						( portMPU_REGION_VALID ) |
+						( portSTACK_REGION + ul ); /* Region number. */
+
+				xMPUSettings->xRegion[ ul ].ulRegionAttribute =
+						( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) |
+						( xRegions[ lIndex ].ulParameters ) |
+						( portMPU_REGION_ENABLE );
+			}
+			else
+			{
+				/* Invalidate the region. */
+				xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
+				xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
+			}
+
+			lIndex++;
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	uint32_t ulCurrentInterrupt;
+	uint8_t ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			 * an interrupt that has been assigned a priority above
+			 * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			 * function.  ISR safe FreeRTOS API functions must *only* be called
+			 * from interrupts that have been assigned a priority at or below
+			 * configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			 * Numerically low interrupt priority numbers represent logically high
+			 * interrupt priorities, therefore the priority of the interrupt must
+			 * be set to a value equal to or numerically *higher* than
+			 * configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			 * Interrupts that	use the FreeRTOS API must not be left at their
+			 * default priority of	zero as that is the highest possible priority,
+			 * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			 * and	therefore also guaranteed to be invalid.
+
+			 * FreeRTOS maintains separate thread and ISR API functions to ensure
+			 * interrupt entry is as fast and simple as possible.
+
+			 * The following links provide detailed information:
+			 * http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			 * http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		 * that define each interrupt's priority to be split between bits that
+		 * define the interrupt's pre-emption priority bits and bits that define
+		 * the interrupt's sub-priority.  For simplicity all bits must be defined
+		 * to be pre-emption priority bits.  The following assertion will fail if
+		 * this is not the case (if some bits represent a sub-priority).
+
+		 * If the application only uses CMSIS libraries for interrupt
+		 * configuration then the correct setting can be achieved on all Cortex-M
+		 * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		 * scheduler.  Note however that some vendor specific peripheral libraries
+		 * assume a non-zero priority group setting, in which cases using a value
+		 * of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM3_MPU/portmacro.h

@@ -0,0 +1,307 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* MPU specific constants. */
+#define portUSING_MPU_WRAPPERS		1
+#define portPRIVILEGE_BIT			( 0x80000000UL )
+
+#define portMPU_REGION_READ_WRITE								( 0x03UL << 24UL )
+#define portMPU_REGION_PRIVILEGED_READ_ONLY						( 0x05UL << 24UL )
+#define portMPU_REGION_READ_ONLY								( 0x06UL << 24UL )
+#define portMPU_REGION_PRIVILEGED_READ_WRITE					( 0x01UL << 24UL )
+#define portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY	( 0x02UL << 24UL )
+#define portMPU_REGION_CACHEABLE_BUFFERABLE						( 0x07UL << 16UL )
+#define portMPU_REGION_EXECUTE_NEVER							( 0x01UL << 28UL )
+
+#define portUNPRIVILEGED_FLASH_REGION		( 0UL )
+#define portPRIVILEGED_FLASH_REGION			( 1UL )
+#define portPRIVILEGED_RAM_REGION			( 2UL )
+#define portGENERAL_PERIPHERALS_REGION		( 3UL )
+#define portSTACK_REGION					( 4UL )
+#define portFIRST_CONFIGURABLE_REGION	    ( 5UL )
+#define portLAST_CONFIGURABLE_REGION		( 7UL )
+#define portNUM_CONFIGURABLE_REGIONS		( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
+#define portTOTAL_NUM_REGIONS				( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
+
+#define portSWITCH_TO_USER_MODE() __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0 " ::: "r0", "memory" )
+
+typedef struct MPU_REGION_REGISTERS
+{
+	uint32_t ulRegionBaseAddress;
+	uint32_t ulRegionAttribute;
+} xMPU_REGION_REGISTERS;
+
+/* Plus 1 to create space for the stack region. */
+typedef struct MPU_SETTINGS
+{
+	xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS ];
+} xMPU_SETTINGS;
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+/*-----------------------------------------------------------*/
+
+/* SVC numbers for various services. */
+#define portSVC_START_SCHEDULER				0
+#define portSVC_YIELD						1
+#define portSVC_RAISE_PRIVILEGE				2
+
+/* Scheduler utilities. */
+
+#define portYIELD()				__asm volatile ( "	SVC	%0	\n" :: "i" (portSVC_YIELD) : "memory" )
+#define portYIELD_WITHIN_API() 													\
+{																				\
+	/* Set a PendSV to request a context switch. */								\
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;								\
+																				\
+	/* Barriers are normally not required but do ensure the code is completely	\
+	within the specified behaviour for the architecture. */						\
+	__asm volatile( "dsb" ::: "memory" );										\
+	__asm volatile( "isb" );													\
+}
+
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortSetBASEPRI(x)
+#define portDISABLE_INTERRUPTS()				vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS()					vPortSetBASEPRI(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+	{
+	uint8_t ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#define portINLINE	__inline
+
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE inline __attribute__(( always_inline))
+#endif
+/*-----------------------------------------------------------*/
+
+extern BaseType_t xIsPrivileged( void );
+extern void vResetPrivilege( void );
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+#define portIS_PRIVILEGED()			xIsPrivileged()
+
+/**
+ * @brief Raise an SVC request to raise privilege.
+*/
+#define portRAISE_PRIVILEGE()		__asm volatile ( "svc %0 \n" :: "i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ */
+#define portRESET_PRIVILEGE()		vResetPrivilege()
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. */
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mov %0, %1												\n"	\
+		"	msr basepri, %0											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mrs %0, basepri											\n" \
+		"	mov %1, %2												\n"	\
+		"	msr basepri, %1											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return ulOriginalBASEPRI;
+}
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+{
+	__asm volatile
+	(
+		"	msr basepri, %0	" :: "r" ( ulNewMaskValue ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY
+	#warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.freertos.org/FreeRTOS-V10.3.x.html"
+	#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0
+#endif
+/*-----------------------------------------------------------*/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CM4F/port.c

@@ -0,0 +1,775 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM4F port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef __VFP_FP__
+	#error This port can only be used when the project options are configured to enable hardware floating point support.
+#endif
+
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+	/* Ensure the SysTick is clocked at the same frequency as the core. */
+	#define portNVIC_SYSTICK_CLK_BIT	( 1UL << 2UL )
+#else
+	/* The way the SysTick is clocked is not modified in case it is not the same
+	as the core. */
+	#define portNVIC_SYSTICK_CLK_BIT	( 0 )
+#endif
+
+/* Constants required to manipulate the core.  Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG				( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
+#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
+
+/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7
+r0p1 port. */
+#define portCPUID							( * ( ( volatile uint32_t * ) 0xE000ed00 ) )
+#define portCORTEX_M7_r0p1_ID				( 0x410FC271UL )
+#define portCORTEX_M7_r0p0_ID				( 0x410FC270UL )
+
+#define portNVIC_PENDSV_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
+
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK					( 0xFFUL )
+
+/* Constants required to manipulate the VFP. */
+#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS			( 0x3UL << 30UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR					( 0x01000000 )
+#define portINITIAL_EXC_RETURN				( 0xfffffffd )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* For strict compliance with the Cortex-M spec the task start address should
+have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
+#define portSTART_ADDRESS_MASK		( ( StackType_t ) 0xfffffffeUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/*
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortSysTickHandler( void );
+void vPortSVCHandler( void ) __attribute__ (( naked ));
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
+
+/*
+ * Function to enable the VFP.
+ */
+static void vPortEnableVFP( void ) __attribute__ (( naked ));
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if( configASSERT_DEFINED == 1 )
+	 static uint8_t ucMaxSysCallPriority = 0;
+	 static uint32_t ulMaxPRIGROUPValue = 0;
+	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	interrupt. */
+
+	/* Offset added to account for the way the MCU uses the stack on entry/exit
+	of interrupts, and to ensure alignment. */
+	pxTopOfStack--;
+
+	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
+	pxTopOfStack--;
+	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+
+	/* Save code space by skipping register initialisation. */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+
+	/* A save method is being used that requires each task to maintain its
+	own exec return value. */
+	pxTopOfStack--;
+	*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0;
+
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		started to remove a compiler warning about the function being defined
+		but never called.  ulDummy is used purely to quieten other warnings
+		about code appearing after this function is called - making ulDummy
+		volatile makes the compiler think the function could return and
+		therefore not output an 'unreachable code' warning for code that appears
+		after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+	__asm volatile (
+					"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
+					"	ldr r1, [r3]					\n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
+					"	ldr r0, [r1]					\n" /* The first item in pxCurrentTCB is the task top of stack. */
+					"	ldmia r0!, {r4-r11, r14}		\n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
+					"	msr psp, r0						\n" /* Restore the task stack pointer. */
+					"	isb								\n"
+					"	mov r0, #0 						\n"
+					"	msr	basepri, r0					\n"
+					"	bx r14							\n"
+					"									\n"
+					"	.align 4						\n"
+					"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+				);
+}
+/*-----------------------------------------------------------*/
+
+static void prvPortStartFirstTask( void )
+{
+	/* Start the first task.  This also clears the bit that indicates the FPU is
+	in use in case the FPU was used before the scheduler was started - which
+	would otherwise result in the unnecessary leaving of space in the SVC stack
+	for lazy saving of FPU registers. */
+	__asm volatile(
+					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
+					" ldr r0, [r0] 			\n"
+					" ldr r0, [r0] 			\n"
+					" msr msp, r0			\n" /* Set the msp back to the start of the stack. */
+					" mov r0, #0			\n" /* Clear the bit that indicates the FPU is in use, see comment above. */
+					" msr control, r0		\n"
+					" cpsie i				\n" /* Globally enable interrupts. */
+					" cpsie f				\n"
+					" dsb					\n"
+					" isb					\n"
+					" svc 0					\n" /* System call to start first task. */
+					" nop					\n"
+				);
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
+	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
+
+	/* This port can be used on all revisions of the Cortex-M7 core other than
+	the r0p1 parts.  r0p1 parts should use the port from the
+	/source/portable/GCC/ARM_CM7/r0p1 directory. */
+	configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+	configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+		}
+
+		#ifdef __NVIC_PRIO_BITS
+		{
+			/* Check the CMSIS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
+		}
+		#endif
+
+		#ifdef configPRIO_BITS
+		{
+			/* Check the FreeRTOS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
+		}
+		#endif
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialise the critical nesting count ready for the first task. */
+	uxCriticalNesting = 0;
+
+	/* Ensure the VFP is enabled - it should be anyway. */
+	vPortEnableVFP();
+
+	/* Lazy save always. */
+	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+
+	/* Start the first task. */
+	prvPortStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS.  Call
+	vTaskSwitchContext() so link time optimisation does not remove the
+	symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	portDISABLE_INTERRUPTS();
+	uxCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( uxCriticalNesting == 1 )
+	{
+		configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	configASSERT( uxCriticalNesting );
+	uxCriticalNesting--;
+	if( uxCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+	/* This is a naked function. */
+
+	__asm volatile
+	(
+	"	mrs r0, psp							\n"
+	"	isb									\n"
+	"										\n"
+	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
+	"	ldr	r2, [r3]						\n"
+	"										\n"
+	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, push high vfp registers. */
+	"	it eq								\n"
+	"	vstmdbeq r0!, {s16-s31}				\n"
+	"										\n"
+	"	stmdb r0!, {r4-r11, r14}			\n" /* Save the core registers. */
+	"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
+	"										\n"
+	"	stmdb sp!, {r0, r3}					\n"
+	"	mov r0, %0 							\n"
+	"	msr basepri, r0						\n"
+	"	dsb									\n"
+	"	isb									\n"
+	"	bl vTaskSwitchContext				\n"
+	"	mov r0, #0							\n"
+	"	msr basepri, r0						\n"
+	"	ldmia sp!, {r0, r3}					\n"
+	"										\n"
+	"	ldr r1, [r3]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
+	"	ldr r0, [r1]						\n"
+	"										\n"
+	"	ldmia r0!, {r4-r11, r14}			\n" /* Pop the core registers. */
+	"										\n"
+	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, pop the high vfp registers too. */
+	"	it eq								\n"
+	"	vldmiaeq r0!, {s16-s31}				\n"
+	"										\n"
+	"	msr psp, r0							\n"
+	"	isb									\n"
+	"										\n"
+	#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
+		#if WORKAROUND_PMU_CM001 == 1
+	"			push { r14 }				\n"
+	"			pop { pc }					\n"
+		#endif
+	#endif
+	"										\n"
+	"	bx r14								\n"
+	"										\n"
+	"	.align 4							\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB	\n"
+	::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+	);
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
+	portDISABLE_INTERRUPTS();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
+	}
+	portENABLE_INTERRUPTS();
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TICKLESS_IDLE == 1 )
+
+	__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+	{
+	uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	TickType_t xModifiableIdleTime;
+
+		/* Make sure the SysTick reload value does not overflow the counter. */
+		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+		{
+			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+		}
+
+		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
+		is accounted for as best it can be, but using the tickless mode will
+		inevitably result in some tiny drift of the time maintained by the
+		kernel with respect to calendar time. */
+		portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
+		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" ::: "memory" );
+		__asm volatile( "dsb" );
+		__asm volatile( "isb" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+		else
+		{
+			/* Set the new reload value. */
+			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+			/* Clear the SysTick count flag and set the count value back to
+			zero. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
+			{
+				__asm volatile( "dsb" ::: "memory" );
+				__asm volatile( "wfi" );
+				__asm volatile( "isb" );
+			}
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+			/* Re-enable interrupts to allow the interrupt that brought the MCU
+			out of sleep mode to execute immediately.  see comments above
+			__disable_interrupt() call above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable interrupts again because the clock is about to be stopped
+			and interrupts that execute while the clock is stopped will increase
+			any slippage between the time maintained by the RTOS and calendar
+			time. */
+			__asm volatile( "cpsid i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable the SysTick clock without reading the
+			portNVIC_SYSTICK_CTRL_REG register to ensure the
+			portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
+			the time the SysTick is stopped for is accounted for as best it can
+			be, but using the tickless mode will inevitably result in some tiny
+			drift of the time maintained by the kernel with respect to calendar
+			time*/
+			portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
+
+			/* Determine if the SysTick clock has already counted to zero and
+			been set back to the current reload value (the reload back being
+			correct for the entire expected idle time) or if the SysTick is yet
+			to count to zero (in which case an interrupt other than the SysTick
+			must have brought the system out of sleep mode). */
+			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+			{
+				uint32_t ulCalculatedLoadValue;
+
+				/* The tick interrupt is already pending, and the SysTick count
+				reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+
+				/* As the pending tick will be processed as soon as this
+				function exits, the tick value maintained by the tick is stepped
+				forward by one less than the time spent waiting. */
+				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+			}
+			else
+			{
+				/* Something other than the tick interrupt ended the sleep.
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+				/* How many complete tick periods passed while the processor
+				was waiting? */
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+				/* The reload value is set to whatever fraction of a single tick
+				period remains. */
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+			}
+
+			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+			value. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+			vTaskStepTick( ulCompleteTickPeriods );
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Exit with interrupts enabled. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+	}
+
+#endif /* #if configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+	/* Calculate the constants required to configure the tick interrupt. */
+	#if( configUSE_TICKLESS_IDLE == 1 )
+	{
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+	}
+	#endif /* configUSE_TICKLESS_IDLE */
+
+	/* Stop and clear the SysTick. */
+	portNVIC_SYSTICK_CTRL_REG = 0UL;
+	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
+}
+/*-----------------------------------------------------------*/
+
+/* This is a naked function. */
+static void vPortEnableVFP( void )
+{
+	__asm volatile
+	(
+		"	ldr.w r0, =0xE000ED88		\n" /* The FPU enable bits are in the CPACR. */
+		"	ldr r1, [r0]				\n"
+		"								\n"
+		"	orr r1, r1, #( 0xf << 20 )	\n" /* Enable CP10 and CP11 coprocessors, then save back. */
+		"	str r1, [r0]				\n"
+		"	bx r14						"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	uint32_t ulCurrentInterrupt;
+	uint8_t ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredictable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+

portable/GCC/ARM_CM4F/portmacro.h

@@ -0,0 +1,243 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+/*-----------------------------------------------------------*/
+
+/* Scheduler utilities. */
+#define portYIELD() 															\
+{																				\
+	/* Set a PendSV to request a context switch. */								\
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;								\
+																				\
+	/* Barriers are normally not required but do ensure the code is completely	\
+	within the specified behaviour for the architecture. */						\
+	__asm volatile( "dsb" ::: "memory" );										\
+	__asm volatile( "isb" );													\
+}
+
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortSetBASEPRI(x)
+#define portDISABLE_INTERRUPTS()				vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS()					vPortSetBASEPRI(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+	{
+	uint8_t ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#define portINLINE	__inline
+
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE inline __attribute__(( always_inline))
+#endif
+
+portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. */
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mov %0, %1												\n"	\
+		"	msr basepri, %0											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mrs %0, basepri											\n" \
+		"	mov %1, %2												\n"	\
+		"	msr basepri, %1											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return ulOriginalBASEPRI;
+}
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+{
+	__asm volatile
+	(
+		"	msr basepri, %0	" :: "r" ( ulNewMaskValue ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CM4_MPU/port.c

@@ -0,0 +1,933 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM3 port.
+ *----------------------------------------------------------*/
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef __VFP_FP__
+	#error This port can only be used when the project options are configured to enable hardware floating point support.
+#endif
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+	/* Ensure the SysTick is clocked at the same frequency as the core. */
+	#define portNVIC_SYSTICK_CLK	( 1UL << 2UL )
+#else
+	/* The way the SysTick is clocked is not modified in case it is not the same
+	as the core. */
+	#define portNVIC_SYSTICK_CLK	( 0 )
+#endif
+
+/* Constants required to access and manipulate the NVIC. */
+#define portNVIC_SYSTICK_CTRL_REG				( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG				( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG		( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG					( *	( ( volatile uint32_t * ) 0xe000ed20 ) )
+#define portNVIC_SYSPRI1_REG					( * ( ( volatile uint32_t * ) 0xe000ed1c ) )
+#define portNVIC_SYS_CTRL_STATE_REG				( * ( ( volatile uint32_t * ) 0xe000ed24 ) )
+#define portNVIC_MEM_FAULT_ENABLE				( 1UL << 16UL )
+
+/* Constants required to access and manipulate the MPU. */
+#define portMPU_TYPE_REG						( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
+#define portMPU_REGION_BASE_ADDRESS_REG			( * ( ( volatile uint32_t * ) 0xe000ed9C ) )
+#define portMPU_REGION_ATTRIBUTE_REG			( * ( ( volatile uint32_t * ) 0xe000edA0 ) )
+#define portMPU_CTRL_REG						( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
+#define portEXPECTED_MPU_TYPE_VALUE				( 8UL << 8UL ) /* 8 regions, unified. */
+#define portMPU_ENABLE							( 0x01UL )
+#define portMPU_BACKGROUND_ENABLE				( 1UL << 2UL )
+#define portPRIVILEGED_EXECUTION_START_ADDRESS	( 0UL )
+#define portMPU_REGION_VALID					( 0x10UL )
+#define portMPU_REGION_ENABLE					( 0x01UL )
+#define portPERIPHERALS_START_ADDRESS			0x40000000UL
+#define portPERIPHERALS_END_ADDRESS				0x5FFFFFFFUL
+
+/* Constants required to access and manipulate the SysTick. */
+#define portNVIC_SYSTICK_INT					( 0x00000002UL )
+#define portNVIC_SYSTICK_ENABLE					( 0x00000001UL )
+#define portNVIC_PENDSV_PRI						( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+#define portNVIC_SVC_PRI						( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )
+
+/* Constants required to manipulate the VFP. */
+#define portFPCCR								( ( volatile uint32_t * ) 0xe000ef34UL ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS				( 0x3UL << 30UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR						( 0x01000000UL )
+#define portINITIAL_EXC_RETURN					( 0xfffffffdUL )
+#define portINITIAL_CONTROL_IF_UNPRIVILEGED		( 0x03 )
+#define portINITIAL_CONTROL_IF_PRIVILEGED		( 0x02 )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
+
+/* Offsets in the stack to the parameters when inside the SVC handler. */
+#define portOFFSET_TO_PC						( 6 )
+
+/* For strict compliance with the Cortex-M spec the task start address should
+have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
+#define portSTART_ADDRESS_MASK				( ( StackType_t ) 0xfffffffeUL )
+
+/*
+ * Configure a number of standard MPU regions that are used by all tasks.
+ */
+static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Return the smallest MPU region size that a given number of bytes will fit
+ * into.  The region size is returned as the value that should be programmed
+ * into the region attribute register for that region.
+ */
+static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION;
+
+/*
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Standard FreeRTOS exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+void xPortSysTickHandler( void ) PRIVILEGED_FUNCTION;
+void vPortSVCHandler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
+
+/*
+ * Starts the scheduler by restoring the context of the first task to run.
+ */
+static void prvRestoreContextOfFirstTask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION;
+
+/*
+ * C portion of the SVC handler.  The SVC handler is split between an asm entry
+ * and a C wrapper for simplicity of coding and maintenance.
+ */
+static void prvSVCHandler( uint32_t *pulRegisters ) __attribute__(( noinline )) PRIVILEGED_FUNCTION;
+
+/*
+ * Function to enable the VFP.
+ */
+ static void vPortEnableVFP( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ *
+ * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
+ *  Bit[0] = 0 --> The processor is running privileged
+ *  Bit[0] = 1 --> The processor is running unprivileged.
+ */
+void vResetPrivilege( void ) __attribute__ (( naked ));
+
+/**
+ * @brief Calls the port specific code to raise the privilege.
+ *
+ * @return pdFALSE if privilege was raised, pdTRUE otherwise.
+ */
+extern BaseType_t xPortRaisePrivilege( void );
+
+/**
+ * @brief If xRunningPrivileged is not pdTRUE, calls the port specific
+ * code to reset the privilege, otherwise does nothing.
+ */
+extern void vPortResetPrivilege( BaseType_t xRunningPrivileged );
+/*-----------------------------------------------------------*/
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable.  Note this is not saved as part of the task context as context
+switches can only occur when uxCriticalNesting is zero. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static uint8_t ucMaxSysCallPriority = 0;
+	 static uint32_t ulMaxPRIGROUPValue = 0;
+	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	interrupt. */
+	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
+	pxTopOfStack--;
+	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
+	pxTopOfStack--;
+	*pxTopOfStack = 0;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+
+	/* A save method is being used that requires each task to maintain its
+	own exec return value. */
+	pxTopOfStack--;
+	*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+	pxTopOfStack -= 9;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+	if( xRunPrivileged == pdTRUE )
+	{
+		*pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED;
+	}
+	else
+	{
+		*pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED;
+	}
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+	/* Assumes psp was in use. */
+	__asm volatile
+	(
+		#ifndef USE_PROCESS_STACK	/* Code should not be required if a main() is using the process stack. */
+			"	tst lr, #4						\n"
+			"	ite eq							\n"
+			"	mrseq r0, msp					\n"
+			"	mrsne r0, psp					\n"
+		#else
+			"	mrs r0, psp						\n"
+		#endif
+			"	b %0							\n"
+			::"i"(prvSVCHandler):"r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+static void prvSVCHandler(	uint32_t *pulParam )
+{
+uint8_t ucSVCNumber;
+uint32_t ulPC;
+#if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 )
+	#if defined( __ARMCC_VERSION )
+		/* Declaration when these variable are defined in code instead of being
+		* exported from linker scripts. */
+		extern uint32_t * __syscalls_flash_start__;
+		extern uint32_t * __syscalls_flash_end__;
+	#else
+		/* Declaration when these variable are exported from linker scripts. */
+		extern uint32_t __syscalls_flash_start__[];
+		extern uint32_t __syscalls_flash_end__[];
+	#endif /* #if defined( __ARMCC_VERSION ) */
+#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */
+
+	/* The stack contains: r0, r1, r2, r3, r12, LR, PC and xPSR.  The first
+	argument (r0) is pulParam[ 0 ]. */
+	ulPC = pulParam[ portOFFSET_TO_PC ];
+	ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ];
+
+	switch( ucSVCNumber )
+	{
+		case portSVC_START_SCHEDULER	:	portNVIC_SYSPRI1_REG |= portNVIC_SVC_PRI;
+											prvRestoreContextOfFirstTask();
+											break;
+
+		case portSVC_YIELD				:	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+											/* Barriers are normally not required
+											but do ensure the code is completely
+											within the specified behaviour for the
+											architecture. */
+											__asm volatile( "dsb" ::: "memory" );
+											__asm volatile( "isb" );
+
+											break;
+
+	#if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 )
+		case portSVC_RAISE_PRIVILEGE	:	/* Only raise the privilege, if the
+											 * svc was raised from any of the
+											 * system calls. */
+											if( ulPC >= ( uint32_t ) __syscalls_flash_start__ &&
+												ulPC <= ( uint32_t ) __syscalls_flash_end__ )
+											{
+												__asm volatile
+												(
+													"	mrs r1, control		\n" /* Obtain current control value. */
+													"	bic r1, #1			\n" /* Set privilege bit. */
+													"	msr control, r1		\n" /* Write back new control value. */
+													::: "r1", "memory"
+												);
+											}
+											break;
+	#else
+		case portSVC_RAISE_PRIVILEGE	:	__asm volatile
+											(
+												"	mrs r1, control		\n" /* Obtain current control value. */
+												"	bic r1, #1			\n" /* Set privilege bit. */
+												"	msr control, r1		\n" /* Write back new control value. */
+												::: "r1", "memory"
+											);
+											break;
+	#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */
+
+		default							:	/* Unknown SVC call. */
+											break;
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvRestoreContextOfFirstTask( void )
+{
+	__asm volatile
+	(
+		"	ldr r0, =0xE000ED08				\n" /* Use the NVIC offset register to locate the stack. */
+		"	ldr r0, [r0]					\n"
+		"	ldr r0, [r0]					\n"
+		"	msr msp, r0						\n" /* Set the msp back to the start of the stack. */
+		"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
+		"	ldr r1, [r3]					\n"
+		"	ldr r0, [r1]					\n" /* The first item in the TCB is the task top of stack. */
+		"	add r1, r1, #4					\n" /* Move onto the second item in the TCB... */
+		"									\n"
+		"	dmb								\n" /* Complete outstanding transfers before disabling MPU. */
+		"	ldr r2, =0xe000ed94				\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]					\n" /* Read the value of MPU_CTRL. */
+		"	bic r3, #1						\n" /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
+		"	str r3, [r2]					\n" /* Disable MPU. */
+		"									\n"
+		"	ldr r2, =0xe000ed9c				\n" /* Region Base Address register. */
+		"	ldmia r1!, {r4-r11}				\n" /* Read 4 sets of MPU registers from TCB. */
+		"	stmia r2!, {r4-r11}				\n" /* Write 4 sets of MPU registers. */
+		"									\n"
+		"	ldr r2, =0xe000ed94				\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]					\n" /* Read the value of MPU_CTRL. */
+		"	orr r3, #1						\n" /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
+		"	str r3, [r2]					\n" /* Enable MPU. */
+		"	dsb								\n" /* Force memory writes before continuing. */
+		"									\n"
+		"	ldmia r0!, {r3-r11, r14}		\n" /* Pop the registers that are not automatically saved on exception entry. */
+		"	msr control, r3					\n"
+		"	msr psp, r0						\n" /* Restore the task stack pointer. */
+		"	mov r0, #0						\n"
+		"	msr	basepri, r0					\n"
+		"	bx r14							\n"
+		"									\n"
+		"	.align 4						\n"
+		"pxCurrentTCBConst2: .word pxCurrentTCB	\n"
+	);
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.  See
+	http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+	configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+		}
+
+		#ifdef __NVIC_PRIO_BITS
+		{
+			/* Check the CMSIS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
+		}
+		#endif
+
+		#ifdef configPRIO_BITS
+		{
+			/* Check the FreeRTOS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
+		}
+		#endif
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the same priority as the kernel, and the SVC
+	handler higher priority so it can be used to exit a critical section (where
+	lower priorities are masked). */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+	/* Configure the regions in the MPU that are common to all tasks. */
+	prvSetupMPU();
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialise the critical nesting count ready for the first task. */
+	uxCriticalNesting = 0;
+
+	/* Ensure the VFP is enabled - it should be anyway. */
+	vPortEnableVFP();
+
+	/* Lazy save always. */
+	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+
+	/* Start the first task.  This also clears the bit that indicates the FPU is
+	in use in case the FPU was used before the scheduler was started - which
+	would otherwise result in the unnecessary leaving of space in the SVC stack
+	for lazy saving of FPU registers. */
+	__asm volatile(
+					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
+					" ldr r0, [r0] 			\n"
+					" ldr r0, [r0] 			\n"
+					" msr msp, r0			\n" /* Set the msp back to the start of the stack. */
+					" mov r0, #0			\n" /* Clear the bit that indicates the FPU is in use, see comment above. */
+					" msr control, r0		\n"
+					" cpsie i				\n" /* Globally enable interrupts. */
+					" cpsie f				\n"
+					" dsb					\n"
+					" isb					\n"
+					" svc %0				\n" /* System call to start first task. */
+					" nop					\n"
+					:: "i" (portSVC_START_SCHEDULER) : "memory" );
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+BaseType_t xRunningPrivileged = xPortRaisePrivilege();
+
+	portDISABLE_INTERRUPTS();
+	uxCriticalNesting++;
+
+	vPortResetPrivilege( xRunningPrivileged );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+BaseType_t xRunningPrivileged = xPortRaisePrivilege();
+
+	configASSERT( uxCriticalNesting );
+	uxCriticalNesting--;
+	if( uxCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+	vPortResetPrivilege( xRunningPrivileged );
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+	/* This is a naked function. */
+
+	__asm volatile
+	(
+		"	mrs r0, psp							\n"
+		"	isb									\n"
+		"										\n"
+		"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
+		"	ldr	r2, [r3]						\n"
+		"										\n"
+		"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, push high vfp registers. */
+		"	it eq								\n"
+		"	vstmdbeq r0!, {s16-s31}				\n"
+		"										\n"
+		"	mrs r1, control						\n"
+		"	stmdb r0!, {r1, r4-r11, r14}		\n" /* Save the remaining registers. */
+		"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
+		"										\n"
+		"	stmdb sp!, {r0, r3}					\n"
+		"	mov r0, %0							\n"
+		"	msr basepri, r0						\n"
+		"	dsb									\n"
+		"	isb									\n"
+		"	bl vTaskSwitchContext				\n"
+		"	mov r0, #0							\n"
+		"	msr basepri, r0						\n"
+		"	ldmia sp!, {r0, r3}					\n"
+		"										\n" /* Restore the context. */
+		"	ldr r1, [r3]						\n"
+		"	ldr r0, [r1]						\n" /* The first item in the TCB is the task top of stack. */
+		"	add r1, r1, #4						\n" /* Move onto the second item in the TCB... */
+		"										\n"
+		"	dmb									\n" /* Complete outstanding transfers before disabling MPU. */
+		"	ldr r2, =0xe000ed94					\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]						\n" /* Read the value of MPU_CTRL. */
+		"	bic r3, #1							\n" /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
+		"	str r3, [r2]						\n" /* Disable MPU. */
+		"										\n"
+		"	ldr r2, =0xe000ed9c					\n" /* Region Base Address register. */
+		"	ldmia r1!, {r4-r11}					\n" /* Read 4 sets of MPU registers from TCB. */
+		"	stmia r2!, {r4-r11}					\n" /* Write 4 sets of MPU registers. */
+		"										\n"
+		"	ldr r2, =0xe000ed94					\n" /* MPU_CTRL register. */
+		"	ldr r3, [r2]						\n" /* Read the value of MPU_CTRL. */
+		"	orr r3, #1							\n" /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
+		"	str r3, [r2]						\n" /* Enable MPU. */
+		"	dsb									\n" /* Force memory writes before continuing. */
+		"										\n"
+		"	ldmia r0!, {r3-r11, r14}			\n" /* Pop the registers that are not automatically saved on exception entry. */
+		"	msr control, r3						\n"
+		"										\n"
+		"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, pop the high vfp registers too. */
+		"	it eq								\n"
+		"	vldmiaeq r0!, {s16-s31}				\n"
+		"										\n"
+		"	msr psp, r0							\n"
+		"	bx r14								\n"
+		"										\n"
+		"	.align 4							\n"
+		"pxCurrentTCBConst: .word pxCurrentTCB	\n"
+		::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+	);
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+uint32_t ulDummy;
+
+	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+	/* Stop and clear the SysTick. */
+	portNVIC_SYSTICK_CTRL_REG = 0UL;
+	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE );
+}
+/*-----------------------------------------------------------*/
+
+/* This is a naked function. */
+static void vPortEnableVFP( void )
+{
+	__asm volatile
+	(
+		"	ldr.w r0, =0xE000ED88		\n" /* The FPU enable bits are in the CPACR. */
+		"	ldr r1, [r0]				\n"
+		"								\n"
+		"	orr r1, r1, #( 0xf << 20 )	\n" /* Enable CP10 and CP11 coprocessors, then save back. */
+		"	str r1, [r0]				\n"
+		"	bx r14						"
+	);
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupMPU( void )
+{
+#if defined( __ARMCC_VERSION )
+	/* Declaration when these variable are defined in code instead of being
+	 * exported from linker scripts. */
+	extern uint32_t * __privileged_functions_end__;
+	extern uint32_t * __FLASH_segment_start__;
+	extern uint32_t * __FLASH_segment_end__;
+	extern uint32_t * __privileged_data_start__;
+	extern uint32_t * __privileged_data_end__;
+#else
+	/* Declaration when these variable are exported from linker scripts. */
+	extern uint32_t __privileged_functions_end__[];
+	extern uint32_t __FLASH_segment_start__[];
+	extern uint32_t __FLASH_segment_end__[];
+	extern uint32_t __privileged_data_start__[];
+	extern uint32_t __privileged_data_end__[];
+#endif
+	/* Check the expected MPU is present. */
+	if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
+	{
+		/* First setup the entire flash for unprivileged read only access. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */
+											( portMPU_REGION_VALID ) |
+											( portUNPRIVILEGED_FLASH_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_READ_ONLY ) |
+										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+										( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) |
+										( portMPU_REGION_ENABLE );
+
+		/* Setup the first nK for privileged only access (even though less
+		than 10K is actually being used).  This is where the kernel code is
+		placed. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */
+											( portMPU_REGION_VALID ) |
+											( portPRIVILEGED_FLASH_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_PRIVILEGED_READ_ONLY ) |
+										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+										( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) |
+										( portMPU_REGION_ENABLE );
+
+		/* Setup the privileged data RAM region.  This is where the kernel data
+		is placed. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */
+											( portMPU_REGION_VALID ) |
+											( portPRIVILEGED_RAM_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+										prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) |
+										( portMPU_REGION_ENABLE );
+
+		/* By default allow everything to access the general peripherals.  The
+		system peripherals and registers are protected. */
+		portMPU_REGION_BASE_ADDRESS_REG =	( portPERIPHERALS_START_ADDRESS ) |
+											( portMPU_REGION_VALID ) |
+											( portGENERAL_PERIPHERALS_REGION );
+
+		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) |
+										( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) |
+										( portMPU_REGION_ENABLE );
+
+		/* Enable the memory fault exception. */
+		portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE;
+
+		/* Enable the MPU with the background region configured. */
+		portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes )
+{
+uint32_t ulRegionSize, ulReturnValue = 4;
+
+	/* 32 is the smallest region size, 31 is the largest valid value for
+	ulReturnValue. */
+	for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) )
+	{
+		if( ulActualSizeInBytes <= ulRegionSize )
+		{
+			break;
+		}
+		else
+		{
+			ulReturnValue++;
+		}
+	}
+
+	/* Shift the code by one before returning so it can be written directly
+	into the the correct bit position of the attribute register. */
+	return ( ulReturnValue << 1UL );
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control							\n" /* r0 = CONTROL. */
+	"	tst r0, #1								\n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
+	"	ite ne									\n"
+	"	movne r0, #0							\n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+	"	moveq r0, #1							\n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+	"	bx lr									\n" /* Return. */
+	"											\n"
+	"	.align 4								\n"
+	::: "r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vResetPrivilege( void ) /* __attribute__ (( naked )) */
+{
+	__asm volatile
+	(
+	"	mrs r0, control							\n" /* r0 = CONTROL. */
+	"	orr r0, #1								\n" /* r0 = r0 | 1. */
+	"	msr control, r0							\n" /* CONTROL = r0. */
+	"	bx lr									\n" /* Return to the caller. */
+	:::"r0", "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+{
+#if defined( __ARMCC_VERSION )
+	/* Declaration when these variable are defined in code instead of being
+	 * exported from linker scripts. */
+	extern uint32_t * __SRAM_segment_start__;
+	extern uint32_t * __SRAM_segment_end__;
+	extern uint32_t * __privileged_data_start__;
+	extern uint32_t * __privileged_data_end__;
+#else
+	/* Declaration when these variable are exported from linker scripts. */
+	extern uint32_t __SRAM_segment_start__[];
+	extern uint32_t __SRAM_segment_end__[];
+	extern uint32_t __privileged_data_start__[];
+	extern uint32_t __privileged_data_end__[];
+#endif
+
+int32_t lIndex;
+uint32_t ul;
+
+	if( xRegions == NULL )
+	{
+		/* No MPU regions are specified so allow access to all RAM. */
+		xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
+				( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */
+				( portMPU_REGION_VALID ) |
+				( portSTACK_REGION );
+
+		xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
+				( portMPU_REGION_READ_WRITE ) |
+				( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+				( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) |
+				( portMPU_REGION_ENABLE );
+
+		/* Re-instate the privileged only RAM region as xRegion[ 0 ] will have
+		just removed the privileged only parameters. */
+		xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress =
+				( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */
+				( portMPU_REGION_VALID ) |
+				( portSTACK_REGION + 1 );
+
+		xMPUSettings->xRegion[ 1 ].ulRegionAttribute =
+				( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
+				( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+				prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) |
+				( portMPU_REGION_ENABLE );
+
+		/* Invalidate all other regions. */
+		for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
+		{
+			xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
+			xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
+		}
+	}
+	else
+	{
+		/* This function is called automatically when the task is created - in
+		which case the stack region parameters will be valid.  At all other
+		times the stack parameters will not be valid and it is assumed that the
+		stack region has already been configured. */
+		if( ulStackDepth > 0 )
+		{
+			/* Define the region that allows access to the stack. */
+			xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
+					( ( uint32_t ) pxBottomOfStack ) |
+					( portMPU_REGION_VALID ) |
+					( portSTACK_REGION ); /* Region number. */
+
+			xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
+					( portMPU_REGION_READ_WRITE ) | /* Read and write. */
+					( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) |
+					( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
+					( portMPU_REGION_ENABLE );
+		}
+
+		lIndex = 0;
+
+		for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
+		{
+			if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL )
+			{
+				/* Translate the generic region definition contained in
+				xRegions into the CM3 specific MPU settings that are then
+				stored in xMPUSettings. */
+				xMPUSettings->xRegion[ ul ].ulRegionBaseAddress =
+						( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) |
+						( portMPU_REGION_VALID ) |
+						( portSTACK_REGION + ul ); /* Region number. */
+
+				xMPUSettings->xRegion[ ul ].ulRegionAttribute =
+						( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) |
+						( xRegions[ lIndex ].ulParameters ) |
+						( portMPU_REGION_ENABLE );
+			}
+			else
+			{
+				/* Invalidate the region. */
+				xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
+				xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
+			}
+
+			lIndex++;
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	uint32_t ulCurrentInterrupt;
+	uint8_t ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/
+
+

portable/GCC/ARM_CM4_MPU/portmacro.h

@@ -0,0 +1,307 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* MPU specific constants. */
+#define portUSING_MPU_WRAPPERS		1
+#define portPRIVILEGE_BIT			( 0x80000000UL )
+
+#define portMPU_REGION_READ_WRITE								( 0x03UL << 24UL )
+#define portMPU_REGION_PRIVILEGED_READ_ONLY						( 0x05UL << 24UL )
+#define portMPU_REGION_READ_ONLY								( 0x06UL << 24UL )
+#define portMPU_REGION_PRIVILEGED_READ_WRITE					( 0x01UL << 24UL )
+#define portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY	( 0x02UL << 24UL )
+#define portMPU_REGION_CACHEABLE_BUFFERABLE						( 0x07UL << 16UL )
+#define portMPU_REGION_EXECUTE_NEVER							( 0x01UL << 28UL )
+
+#define portUNPRIVILEGED_FLASH_REGION		( 0UL )
+#define portPRIVILEGED_FLASH_REGION			( 1UL )
+#define portPRIVILEGED_RAM_REGION			( 2UL )
+#define portGENERAL_PERIPHERALS_REGION		( 3UL )
+#define portSTACK_REGION					( 4UL )
+#define portFIRST_CONFIGURABLE_REGION	    ( 5UL )
+#define portLAST_CONFIGURABLE_REGION		( 7UL )
+#define portNUM_CONFIGURABLE_REGIONS		( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
+#define portTOTAL_NUM_REGIONS				( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
+
+#define portSWITCH_TO_USER_MODE() __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0 " ::: "r0", "memory" )
+
+typedef struct MPU_REGION_REGISTERS
+{
+	uint32_t ulRegionBaseAddress;
+	uint32_t ulRegionAttribute;
+} xMPU_REGION_REGISTERS;
+
+/* Plus 1 to create space for the stack region. */
+typedef struct MPU_SETTINGS
+{
+	xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS ];
+} xMPU_SETTINGS;
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+/*-----------------------------------------------------------*/
+
+/* SVC numbers for various services. */
+#define portSVC_START_SCHEDULER				0
+#define portSVC_YIELD						1
+#define portSVC_RAISE_PRIVILEGE				2
+
+/* Scheduler utilities. */
+
+#define portYIELD()				__asm volatile ( "	SVC	%0	\n" :: "i" (portSVC_YIELD) : "memory" )
+#define portYIELD_WITHIN_API() 													\
+{																				\
+	/* Set a PendSV to request a context switch. */								\
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;								\
+																				\
+	/* Barriers are normally not required but do ensure the code is completely	\
+	within the specified behaviour for the architecture. */						\
+	__asm volatile( "dsb" ::: "memory" );										\
+	__asm volatile( "isb" );													\
+}
+
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortSetBASEPRI(x)
+#define portDISABLE_INTERRUPTS()				vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS()					vPortSetBASEPRI(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+	{
+	uint8_t ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#define portINLINE	__inline
+
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE inline __attribute__(( always_inline))
+#endif
+/*-----------------------------------------------------------*/
+
+extern BaseType_t xIsPrivileged( void );
+extern void vResetPrivilege( void );
+
+/**
+ * @brief Checks whether or not the processor is privileged.
+ *
+ * @return 1 if the processor is already privileged, 0 otherwise.
+ */
+#define portIS_PRIVILEGED()			xIsPrivileged()
+
+/**
+ * @brief Raise an SVC request to raise privilege.
+*/
+#define portRAISE_PRIVILEGE()		__asm volatile ( "svc %0 \n" :: "i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+
+/**
+ * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
+ * register.
+ */
+#define portRESET_PRIVILEGE()		vResetPrivilege()
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. */
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mov %0, %1												\n"	\
+		"	msr basepri, %0											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mrs %0, basepri											\n" \
+		"	mov %1, %2												\n"	\
+		"	msr basepri, %1											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return ulOriginalBASEPRI;
+}
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+{
+	__asm volatile
+	(
+		"	msr basepri, %0	" :: "r" ( ulNewMaskValue ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY
+	#warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.freertos.org/FreeRTOS-V10.3.x.html"
+	#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0
+#endif
+/*-----------------------------------------------------------*/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CM7/ReadMe.txt

@@ -0,0 +1,18 @@
+There are two options for running FreeRTOS on ARM Cortex-M7 microcontrollers.
+The best option depends on the revision of the ARM Cortex-M7 core in use.  The
+revision is specified by an 'r' number, and a 'p' number, so will look something
+like 'r0p1'.  Check the documentation for the microcontroller in use to find the 
+revision of the Cortex-M7 core used in that microcontroller.  If in doubt, use 
+the FreeRTOS port provided specifically for r0p1 revisions, as that can be used
+with all core revisions.
+
+The first option is to use the ARM Cortex-M4F port, and the second option is to
+use the Cortex-M7 r0p1 port - the latter containing a minor errata workaround.
+
+If the revision of the ARM Cortex-M7 core is not r0p1 then either option can be
+used, but it is recommended to use the FreeRTOS ARM Cortex-M4F port located in 
+the /FreeRTOS/Source/portable/GCC/ARM_CM4F directory.
+
+If the revision of the ARM Cortex-M7 core is r0p1 then use the FreeRTOS ARM
+Cortex-M7 r0p1 port located in the /FreeRTOS/Source/portable/GCC/ARM_CM7/r0p1
+directory.

portable/GCC/ARM_CM7/r0p1/port.c

@@ -0,0 +1,765 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM4F port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef __VFP_FP__
+	#error This port can only be used when the project options are configured to enable hardware floating point support.
+#endif
+
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+	/* Ensure the SysTick is clocked at the same frequency as the core. */
+	#define portNVIC_SYSTICK_CLK_BIT	( 1UL << 2UL )
+#else
+	/* The way the SysTick is clocked is not modified in case it is not the same
+	as the core. */
+	#define portNVIC_SYSTICK_CLK_BIT	( 0 )
+#endif
+
+/* Constants required to manipulate the core.  Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SYSPRI2_REG				( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
+#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
+
+#define portNVIC_PENDSV_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
+
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK					( 0xFFUL )
+
+/* Constants required to manipulate the VFP. */
+#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS			( 0x3UL << 30UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR					( 0x01000000 )
+#define portINITIAL_EXC_RETURN				( 0xfffffffd )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* For strict compliance with the Cortex-M spec the task start address should
+have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
+#define portSTART_ADDRESS_MASK		( ( StackType_t ) 0xfffffffeUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/*
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
+ */
+void vPortSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortSysTickHandler( void );
+void vPortSVCHandler( void ) __attribute__ (( naked ));
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
+
+/*
+ * Function to enable the VFP.
+ */
+static void vPortEnableVFP( void ) __attribute__ (( naked ));
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if( configUSE_TICKLESS_IDLE == 1 )
+	static uint32_t ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if( configASSERT_DEFINED == 1 )
+	 static uint8_t ucMaxSysCallPriority = 0;
+	 static uint32_t ulMaxPRIGROUPValue = 0;
+	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Simulate the stack frame as it would be created by a context switch
+	interrupt. */
+
+	/* Offset added to account for the way the MCU uses the stack on entry/exit
+	of interrupts, and to ensure alignment. */
+	pxTopOfStack--;
+
+	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
+	pxTopOfStack--;
+	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+
+	/* Save code space by skipping register initialisation. */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+
+	/* A save method is being used that requires each task to maintain its
+	own exec return value. */
+	pxTopOfStack--;
+	*pxTopOfStack = portINITIAL_EXC_RETURN;
+
+	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+volatile uint32_t ulDummy = 0;
+
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	while( ulDummy == 0 )
+	{
+		/* This file calls prvTaskExitError() after the scheduler has been
+		started to remove a compiler warning about the function being defined
+		but never called.  ulDummy is used purely to quieten other warnings
+		about code appearing after this function is called - making ulDummy
+		volatile makes the compiler think the function could return and
+		therefore not output an 'unreachable code' warning for code that appears
+		after it. */
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortSVCHandler( void )
+{
+	__asm volatile (
+					"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
+					"	ldr r1, [r3]					\n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
+					"	ldr r0, [r1]					\n" /* The first item in pxCurrentTCB is the task top of stack. */
+					"	ldmia r0!, {r4-r11, r14}		\n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
+					"	msr psp, r0						\n" /* Restore the task stack pointer. */
+					"	isb								\n"
+					"	mov r0, #0 						\n"
+					"	msr	basepri, r0					\n"
+					"	bx r14							\n"
+					"									\n"
+					"	.align 4						\n"
+					"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
+				);
+}
+/*-----------------------------------------------------------*/
+
+static void prvPortStartFirstTask( void )
+{
+	/* Start the first task.  This also clears the bit that indicates the FPU is
+	in use in case the FPU was used before the scheduler was started - which
+	would otherwise result in the unnecessary leaving of space in the SVC stack
+	for lazy saving of FPU registers. */
+	__asm volatile(
+					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
+					" ldr r0, [r0] 			\n"
+					" ldr r0, [r0] 			\n"
+					" msr msp, r0			\n" /* Set the msp back to the start of the stack. */
+					" mov r0, #0			\n" /* Clear the bit that indicates the FPU is in use, see comment above. */
+					" msr control, r0		\n"
+					" cpsie i				\n" /* Globally enable interrupts. */
+					" cpsie f				\n"
+					" dsb					\n"
+					" isb					\n"
+					" svc 0					\n" /* System call to start first task. */
+					" nop					\n"
+				);
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
+	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+		}
+
+		#ifdef __NVIC_PRIO_BITS
+		{
+			/* Check the CMSIS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
+		}
+		#endif
+
+		#ifdef configPRIO_BITS
+		{
+			/* Check the FreeRTOS configuration that defines the number of
+			priority bits matches the number of priority bits actually queried
+			from the hardware. */
+			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
+		}
+		#endif
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	vPortSetupTimerInterrupt();
+
+	/* Initialise the critical nesting count ready for the first task. */
+	uxCriticalNesting = 0;
+
+	/* Ensure the VFP is enabled - it should be anyway. */
+	vPortEnableVFP();
+
+	/* Lazy save always. */
+	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+
+	/* Start the first task. */
+	prvPortStartFirstTask();
+
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS.  Call
+	vTaskSwitchContext() so link time optimisation does not remove the
+	symbol. */
+	vTaskSwitchContext();
+	prvTaskExitError();
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	portDISABLE_INTERRUPTS();
+	uxCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( uxCriticalNesting == 1 )
+	{
+		configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	configASSERT( uxCriticalNesting );
+	uxCriticalNesting--;
+	if( uxCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void xPortPendSVHandler( void )
+{
+	/* This is a naked function. */
+
+	__asm volatile
+	(
+	"	mrs r0, psp							\n"
+	"	isb									\n"
+	"										\n"
+	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
+	"	ldr	r2, [r3]						\n"
+	"										\n"
+	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, push high vfp registers. */
+	"	it eq								\n"
+	"	vstmdbeq r0!, {s16-s31}				\n"
+	"										\n"
+	"	stmdb r0!, {r4-r11, r14}			\n" /* Save the core registers. */
+	"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
+	"										\n"
+	"	stmdb sp!, {r0, r3}					\n"
+	"	mov r0, %0 							\n"
+	"	cpsid i								\n" /* Errata workaround. */
+	"	msr basepri, r0						\n"
+	"	dsb									\n"
+	"	isb									\n"
+	"	cpsie i								\n" /* Errata workaround. */
+	"	bl vTaskSwitchContext				\n"
+	"	mov r0, #0							\n"
+	"	msr basepri, r0						\n"
+	"	ldmia sp!, {r0, r3}					\n"
+	"										\n"
+	"	ldr r1, [r3]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
+	"	ldr r0, [r1]						\n"
+	"										\n"
+	"	ldmia r0!, {r4-r11, r14}			\n" /* Pop the core registers. */
+	"										\n"
+	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, pop the high vfp registers too. */
+	"	it eq								\n"
+	"	vldmiaeq r0!, {s16-s31}				\n"
+	"										\n"
+	"	msr psp, r0							\n"
+	"	isb									\n"
+	"										\n"
+	#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
+		#if WORKAROUND_PMU_CM001 == 1
+	"			push { r14 }				\n"
+	"			pop { pc }					\n"
+		#endif
+	#endif
+	"										\n"
+	"	bx r14								\n"
+	"										\n"
+	"	.align 4							\n"
+	"pxCurrentTCBConst: .word pxCurrentTCB	\n"
+	::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
+	);
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
+	portDISABLE_INTERRUPTS();
+	{
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
+	}
+	portENABLE_INTERRUPTS();
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TICKLESS_IDLE == 1 )
+
+	__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+	{
+	uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	TickType_t xModifiableIdleTime;
+
+		/* Make sure the SysTick reload value does not overflow the counter. */
+		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+		{
+			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+		}
+
+		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
+		is accounted for as best it can be, but using the tickless mode will
+		inevitably result in some tiny drift of the time maintained by the
+		kernel with respect to calendar time. */
+		portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
+		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" ::: "memory" );
+		__asm volatile( "dsb" );
+		__asm volatile( "isb" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+		else
+		{
+			/* Set the new reload value. */
+			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+			/* Clear the SysTick count flag and set the count value back to
+			zero. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
+			{
+				__asm volatile( "dsb" ::: "memory" );
+				__asm volatile( "wfi" );
+				__asm volatile( "isb" );
+			}
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+			/* Re-enable interrupts to allow the interrupt that brought the MCU
+			out of sleep mode to execute immediately.  see comments above
+			__disable_interrupt() call above. */
+			__asm volatile( "cpsie i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable interrupts again because the clock is about to be stopped
+			and interrupts that execute while the clock is stopped will increase
+			any slippage between the time maintained by the RTOS and calendar
+			time. */
+			__asm volatile( "cpsid i" ::: "memory" );
+			__asm volatile( "dsb" );
+			__asm volatile( "isb" );
+
+			/* Disable the SysTick clock without reading the
+			portNVIC_SYSTICK_CTRL_REG register to ensure the
+			portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
+			the time the SysTick is stopped for is accounted for as best it can
+			be, but using the tickless mode will inevitably result in some tiny
+			drift of the time maintained by the kernel with respect to calendar
+			time*/
+			portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
+
+			/* Determine if the SysTick clock has already counted to zero and
+			been set back to the current reload value (the reload back being
+			correct for the entire expected idle time) or if the SysTick is yet
+			to count to zero (in which case an interrupt other than the SysTick
+			must have brought the system out of sleep mode). */
+			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+			{
+				uint32_t ulCalculatedLoadValue;
+
+				/* The tick interrupt is already pending, and the SysTick count
+				reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+
+				/* As the pending tick will be processed as soon as this
+				function exits, the tick value maintained by the tick is stepped
+				forward by one less than the time spent waiting. */
+				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+			}
+			else
+			{
+				/* Something other than the tick interrupt ended the sleep.
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+				/* How many complete tick periods passed while the processor
+				was waiting? */
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+				/* The reload value is set to whatever fraction of a single tick
+				period remains. */
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+			}
+
+			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+			value. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+			vTaskStepTick( ulCompleteTickPeriods );
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Exit with interrupts enabled. */
+			__asm volatile( "cpsie i" ::: "memory" );
+		}
+	}
+
+#endif /* #if configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+{
+	/* Calculate the constants required to configure the tick interrupt. */
+	#if( configUSE_TICKLESS_IDLE == 1 )
+	{
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+	}
+	#endif /* configUSE_TICKLESS_IDLE */
+
+	/* Stop and clear the SysTick. */
+	portNVIC_SYSTICK_CTRL_REG = 0UL;
+	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+	/* Configure SysTick to interrupt at the requested rate. */
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+	portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
+}
+/*-----------------------------------------------------------*/
+
+/* This is a naked function. */
+static void vPortEnableVFP( void )
+{
+	__asm volatile
+	(
+		"	ldr.w r0, =0xE000ED88		\n" /* The FPU enable bits are in the CPACR. */
+		"	ldr r1, [r0]				\n"
+		"								\n"
+		"	orr r1, r1, #( 0xf << 20 )	\n" /* Enable CP10 and CP11 coprocessors, then save back. */
+		"	str r1, [r0]				\n"
+		"	bx r14						"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	uint32_t ulCurrentInterrupt;
+	uint8_t ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredictable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+

portable/GCC/ARM_CM7/r0p1/portmacro.h

@@ -0,0 +1,247 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+/*-----------------------------------------------------------*/
+
+/* Scheduler utilities. */
+#define portYIELD() 															\
+{																				\
+	/* Set a PendSV to request a context switch. */								\
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;								\
+																				\
+	/* Barriers are normally not required but do ensure the code is completely	\
+	within the specified behaviour for the architecture. */						\
+	__asm volatile( "dsb" ::: "memory" );										\
+	__asm volatile( "isb" );													\
+}
+
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortRaiseBASEPRI()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortSetBASEPRI(x)
+#define portDISABLE_INTERRUPTS()				vPortRaiseBASEPRI()
+#define portENABLE_INTERRUPTS()					vPortSetBASEPRI(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+	{
+	uint8_t ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
+/* portNOP() is not required by this port. */
+#define portNOP()
+
+#define portINLINE	__inline
+
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE inline __attribute__(( always_inline))
+#endif
+
+portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
+{
+uint32_t ulCurrentInterrupt;
+BaseType_t xReturn;
+
+	/* Obtain the number of the currently executing interrupt. */
+	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+
+	if( ulCurrentInterrupt == 0 )
+	{
+		xReturn = pdFALSE;
+	}
+	else
+	{
+		xReturn = pdTRUE;
+	}
+
+	return xReturn;
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+{
+uint32_t ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mov %0, %1												\n"	\
+		"	cpsid i													\n" \
+		"	msr basepri, %0											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		"	cpsie i													\n" \
+		:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+}
+
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+{
+uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+
+	__asm volatile
+	(
+		"	mrs %0, basepri											\n" \
+		"	mov %1, %2												\n"	\
+		"	cpsid i													\n" \
+		"	msr basepri, %1											\n" \
+		"	isb														\n" \
+		"	dsb														\n" \
+		"	cpsie i													\n" \
+		:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return ulOriginalBASEPRI;
+}
+/*-----------------------------------------------------------*/
+
+portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+{
+	__asm volatile
+	(
+		"	msr basepri, %0	" :: "r" ( ulNewMaskValue ) : "memory"
+	);
+}
+/*-----------------------------------------------------------*/
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CR5/port.c

@@ -0,0 +1,525 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
+	#error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined.  Refer to Cortex-A equivalent: http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET
+	#error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined.  Refer to Cortex-A equivalent: http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configUNIQUE_INTERRUPT_PRIORITIES
+	#error configUNIQUE_INTERRUPT_PRIORITIES must be defined.  Refer to Cortex-A equivalent: http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#ifndef configSETUP_TICK_INTERRUPT
+	#error configSETUP_TICK_INTERRUPT() must be defined.  Refer to Cortex-A equivalent: http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif /* configSETUP_TICK_INTERRUPT */
+
+#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined.  Refer to Cortex-A equivalent: http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
+#endif
+
+#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
+#endif
+
+#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/* In case security extensions are implemented. */
+#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
+#endif
+
+/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
+portmacro.h. */
+#ifndef configCLEAR_TICK_INTERRUPT
+	#define configCLEAR_TICK_INTERRUPT()
+#endif
+
+/* A critical section is exited when the critical section nesting count reaches
+this value. */
+#define portNO_CRITICAL_NESTING			( ( uint32_t ) 0 )
+
+/* In all GICs 255 can be written to the priority mask register to unmask all
+(but the lowest) interrupt priority. */
+#define portUNMASK_VALUE				( 0xFFUL )
+
+/* Tasks are not created with a floating point context, but can be given a
+floating point context after they have been created.  A variable is stored as
+part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
+does not have an FPU context, or any other value if the task does have an FPU
+context. */
+#define portNO_FLOATING_POINT_CONTEXT	( ( StackType_t ) 0 )
+
+/* Constants required to setup the initial task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portINTERRUPT_ENABLE_BIT		( 0x80UL )
+#define portTHUMB_MODE_ADDRESS			( 0x01UL )
+
+/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
+point is zero. */
+#define portBINARY_POINT_BITS			( ( uint8_t ) 0x03 )
+
+/* Masks all bits in the APSR other than the mode bits. */
+#define portAPSR_MODE_BITS_MASK			( 0x1F )
+
+/* The value of the mode bits in the APSR when the CPU is executing in user
+mode. */
+#define portAPSR_USER_MODE				( 0x10 )
+
+/* The critical section macros only mask interrupts up to an application
+determined priority level.  Sometimes it is necessary to turn interrupt off in
+the CPU itself before modifying certain hardware registers. */
+#define portCPU_IRQ_DISABLE()										\
+	__asm volatile ( "CPSID i" ::: "memory" );						\
+	__asm volatile ( "DSB" );										\
+	__asm volatile ( "ISB" );
+
+#define portCPU_IRQ_ENABLE()										\
+	__asm volatile ( "CPSIE i" ::: "memory" );						\
+	__asm volatile ( "DSB" );										\
+	__asm volatile ( "ISB" );
+
+
+/* Macro to unmask all interrupt priorities. */
+#define portCLEAR_INTERRUPT_MASK()									\
+{																	\
+	portCPU_IRQ_DISABLE();											\
+	portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE;			\
+	__asm volatile (	"DSB		\n"								\
+						"ISB		\n" );							\
+	portCPU_IRQ_ENABLE();											\
+}
+
+#define portINTERRUPT_PRIORITY_REGISTER_OFFSET		0x400UL
+#define portMAX_8_BIT_VALUE							( ( uint8_t ) 0xff )
+#define portBIT_0_SET								( ( uint8_t ) 0x01 )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case is messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts the first task executing.  This function is necessarily written in
+ * assembly code so is implemented in portASM.s.
+ */
+extern void vPortRestoreTaskContext( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/* A variable is used to keep track of the critical section nesting.  This
+variable has to be stored as part of the task context and must be initialised to
+a non zero value to ensure interrupts don't inadvertently become unmasked before
+the scheduler starts.  As it is stored as part of the task context it will
+automatically be set to 0 when the first task is started. */
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/* Saved as part of the task context.  If ulPortTaskHasFPUContext is non-zero then
+a floating point context must be saved and restored for the task. */
+uint32_t ulPortTaskHasFPUContext = pdFALSE;
+
+/* Set to 1 to pend a context switch from an ISR. */
+uint32_t ulPortYieldRequired = pdFALSE;
+
+/* Counts the interrupt nesting depth.  A context switch is only performed if
+if the nesting depth is 0. */
+uint32_t ulPortInterruptNesting = 0UL;
+
+/* Used in asm code. */
+__attribute__(( used )) const uint32_t ulICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
+__attribute__(( used )) const uint32_t ulICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
+__attribute__(( used )) const uint32_t ulICCPMR	= portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
+__attribute__(( used )) const uint32_t ulMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Setup the initial stack of the task.  The stack is set exactly as
+	expected by the portRESTORE_CONTEXT() macro.
+
+	The fist real value on the stack is the status register, which is set for
+	system mode, with interrupts enabled.  A few NULLs are added first to ensure
+	GDB does not try decoding a non-existent return address. */
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )
+	{
+		/* The task will start in THUMB mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+
+	pxTopOfStack--;
+
+	/* Next the return address, which in this case is the start of the task. */
+	*pxTopOfStack = ( StackType_t ) pxCode;
+	pxTopOfStack--;
+
+	/* Next all the registers other than the stack pointer. */
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* R14 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The task will start with a critical nesting count of 0 as interrupts are
+	enabled. */
+	*pxTopOfStack = portNO_CRITICAL_NESTING;
+	pxTopOfStack--;
+
+	/* The task will start without a floating point context.  A task that uses
+	the floating point hardware must call vPortTaskUsesFPU() before executing
+	any floating point instructions. */
+	*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( ulPortInterruptNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+uint32_t ulAPSR, ulCycles = 8; /* 8 bits per byte. */
+
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile uint32_t ulOriginalPriority;
+		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
+		volatile uint8_t ucMaxPriorityValue;
+
+		/* Determine how many priority bits are implemented in the GIC.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pucFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to
+		all possible bits. */
+		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+
+		/* Shift to the least significant bits. */
+		while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
+		{
+			ucMaxPriorityValue >>= ( uint8_t ) 0x01;
+
+			/* If ulCycles reaches 0 then ucMaxPriorityValue must have been
+			read as 0, indicating a misconfiguration. */
+			ulCycles--;
+			if( ulCycles == 0 )
+			{
+				break;
+			}
+		}
+
+		/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
+		value. */
+		configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pucFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Only continue if the CPU is not in User mode.  The CPU must be in a
+	Privileged mode for the scheduler to start. */
+	__asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) :: "memory" );
+	ulAPSR &= portAPSR_MODE_BITS_MASK;
+	configASSERT( ulAPSR != portAPSR_USER_MODE );
+
+	if( ulAPSR != portAPSR_USER_MODE )
+	{
+		/* Only continue if the binary point value is set to its lowest possible
+		setting.  See the comments in vPortValidateInterruptPriority() below for
+		more information. */
+		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
+
+		if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
+		{
+			/* Interrupts are turned off in the CPU itself to ensure tick does
+			not execute	while the scheduler is being started.  Interrupts are
+			automatically turned back on in the CPU when the first task starts
+			executing. */
+			portCPU_IRQ_DISABLE();
+
+			/* Start the timer that generates the tick ISR. */
+			configSETUP_TICK_INTERRUPT();
+
+			/* Start the first task executing. */
+			vPortRestoreTaskContext();
+		}
+	}
+
+	/* Will only get here if vTaskStartScheduler() was called with the CPU in
+	a non-privileged mode or the binary point register was not set to its lowest
+	possible value.  prvTaskExitError() is referenced to prevent a compiler
+	warning about it being defined but not referenced in the case that the user
+	defines their own exit address. */
+	( void ) prvTaskExitError;
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	/* Mask interrupts up to the max syscall interrupt priority. */
+	ulPortSetInterruptMask();
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( ulCriticalNesting == 1 )
+	{
+		configASSERT( ulPortInterruptNesting == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as the critical section is being
+		exited. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then all interrupt
+		priorities must be re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Critical nesting has reached zero so all interrupt priorities
+			should be unmasked. */
+			portCLEAR_INTERRUPT_MASK();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+void FreeRTOS_Tick_Handler( void )
+{
+	/* Set interrupt mask before altering scheduler structures.   The tick
+	handler runs at the lowest priority, so interrupts cannot already be masked,
+	so there is no need to save and restore the current mask value.  It is
+	necessary to turn off interrupts in the CPU itself while the ICCPMR is being
+	updated. */
+	portCPU_IRQ_DISABLE();
+	portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+	__asm volatile (	"dsb		\n"
+						"isb		\n" ::: "memory" );
+	portCPU_IRQ_ENABLE();
+
+	/* Increment the RTOS tick. */
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		ulPortYieldRequired = pdTRUE;
+	}
+
+	/* Ensure all interrupt priorities are active again. */
+	portCLEAR_INTERRUPT_MASK();
+	configCLEAR_TICK_INTERRUPT();
+}
+/*-----------------------------------------------------------*/
+
+void vPortTaskUsesFPU( void )
+{
+uint32_t ulInitialFPSCR = 0;
+
+	/* A task is registering the fact that it needs an FPU context.  Set the
+	FPU flag (which is saved as part of the task context). */
+	ulPortTaskHasFPUContext = pdTRUE;
+
+	/* Initialise the floating point status register. */
+	__asm volatile ( "FMXR 	FPSCR, %0" :: "r" (ulInitialFPSCR) : "memory" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortClearInterruptMask( uint32_t ulNewMaskValue )
+{
+	if( ulNewMaskValue == pdFALSE )
+	{
+		portCLEAR_INTERRUPT_MASK();
+	}
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulPortSetInterruptMask( void )
+{
+uint32_t ulReturn;
+
+	/* Interrupt in the CPU must be turned off while the ICCPMR is being
+	updated. */
+	portCPU_IRQ_DISABLE();
+	if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
+	{
+		/* Interrupts were already masked. */
+		ulReturn = pdTRUE;
+	}
+	else
+	{
+		ulReturn = pdFALSE;
+		portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
+		__asm volatile (	"dsb		\n"
+							"isb		\n" ::: "memory" );
+	}
+	portCPU_IRQ_ENABLE();
+
+	return ulReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+		/* The following assertion will fail if a service routine (ISR) for
+		an interrupt that has been assigned a priority above
+		configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+		function.  ISR safe FreeRTOS API functions must *only* be called
+		from interrupts that have been assigned a priority at or below
+		configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+		Numerically low interrupt priority numbers represent logically high
+		interrupt priorities, therefore the priority of the interrupt must
+		be set to a value equal to or numerically *higher* than
+		configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+		FreeRTOS maintains separate thread and ISR API functions to ensure
+		interrupt entry is as fast and simple as possible. */
+
+		configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
+
+		/* Priority grouping:  The interrupt controller (GIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		The priority grouping is configured by the GIC's binary point register
+		(ICCBPR).  Writing 0 to ICCBPR will ensure it is set to its lowest
+		possible value (which may be above 0). */
+		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
+	}
+
+#endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/
+
+
+

portable/GCC/ARM_CR5/portASM.S

@@ -0,0 +1,280 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+	.text
+	.arm
+
+	.set SYS_MODE,	0x1f
+	.set SVC_MODE,	0x13
+	.set IRQ_MODE,	0x12
+
+	/* Hardware registers. */
+	.extern ulICCIAR
+	.extern ulICCEOIR
+	.extern ulICCPMR
+
+	/* Variables and functions. */
+	.extern ulMaxAPIPriorityMask
+	.extern _freertos_vector_table
+	.extern pxCurrentTCB
+	.extern vTaskSwitchContext
+	.extern vApplicationIRQHandler
+	.extern ulPortInterruptNesting
+	.extern ulPortTaskHasFPUContext
+
+	.global FreeRTOS_IRQ_Handler
+	.global FreeRTOS_SWI_Handler
+	.global vPortRestoreTaskContext
+
+.macro portSAVE_CONTEXT
+
+	/* Save the LR and SPSR onto the system mode stack before switching to
+	system mode to save the remaining system mode registers. */
+	SRSDB	sp!, #SYS_MODE
+	CPS		#SYS_MODE
+	PUSH	{R0-R12, R14}
+
+	/* Push the critical nesting count. */
+	LDR		R2, ulCriticalNestingConst
+	LDR		R1, [R2]
+	PUSH	{R1}
+
+	/* Does the task have a floating point context that needs saving?  If
+	ulPortTaskHasFPUContext is 0 then no. */
+	LDR		R2, ulPortTaskHasFPUContextConst
+	LDR		R3, [R2]
+	CMP		R3, #0
+
+	/* Save the floating point context, if any. */
+	FMRXNE  R1,  FPSCR
+	VPUSHNE {D0-D15}
+	/*VPUSHNE	{D16-D31}*/
+	PUSHNE	{R1}
+
+	/* Save ulPortTaskHasFPUContext itself. */
+	PUSH	{R3}
+
+	/* Save the stack pointer in the TCB. */
+	LDR		R0, pxCurrentTCBConst
+	LDR		R1, [R0]
+	STR		SP, [R1]
+
+	.endm
+
+; /**********************************************************************/
+
+.macro portRESTORE_CONTEXT
+
+	/* Set the SP to point to the stack of the task being restored. */
+	LDR		R0, pxCurrentTCBConst
+	LDR		R1, [R0]
+	LDR		SP, [R1]
+
+	/* Is there a floating point context to restore?  If the restored
+	ulPortTaskHasFPUContext is zero then no. */
+	LDR		R0, ulPortTaskHasFPUContextConst
+	POP		{R1}
+	STR		R1, [R0]
+	CMP		R1, #0
+
+	/* Restore the floating point context, if any. */
+	POPNE 	{R0}
+	/*VPOPNE	{D16-D31}*/
+	VPOPNE	{D0-D15}
+	VMSRNE  FPSCR, R0
+
+	/* Restore the critical section nesting depth. */
+	LDR		R0, ulCriticalNestingConst
+	POP		{R1}
+	STR		R1, [R0]
+
+	/* Ensure the priority mask is correct for the critical nesting depth. */
+	LDR		R2, ulICCPMRConst
+	LDR		R2, [R2]
+	CMP		R1, #0
+	MOVEQ	R4, #255
+	LDRNE	R4, ulMaxAPIPriorityMaskConst
+	LDRNE	R4, [R4]
+	STR		R4, [R2]
+
+	/* Restore all system mode registers other than the SP (which is already
+	being used). */
+	POP		{R0-R12, R14}
+
+	/* Return to the task code, loading CPSR on the way. */
+	RFEIA	sp!
+
+	.endm
+
+
+
+
+/******************************************************************************
+ * SVC handler is used to start the scheduler.
+ *****************************************************************************/
+.align 4
+.type FreeRTOS_SWI_Handler, %function
+FreeRTOS_SWI_Handler:
+	/* Save the context of the current task and select a new task to run. */
+	portSAVE_CONTEXT
+	LDR R0, vTaskSwitchContextConst
+	BLX	R0
+	portRESTORE_CONTEXT
+
+
+/******************************************************************************
+ * vPortRestoreTaskContext is used to start the scheduler.
+ *****************************************************************************/
+.type vPortRestoreTaskContext, %function
+vPortRestoreTaskContext:
+	/* Switch to system mode. */
+	CPS		#SYS_MODE
+	portRESTORE_CONTEXT
+
+.align 4
+.type FreeRTOS_IRQ_Handler, %function
+FreeRTOS_IRQ_Handler:
+
+	/* Return to the interrupted instruction. */
+	SUB		lr, lr, #4
+
+	/* Push the return address and SPSR. */
+	PUSH	{lr}
+	MRS		lr, SPSR
+	PUSH	{lr}
+
+	/* Change to supervisor mode to allow reentry. */
+	CPS		#SVC_MODE
+
+	/* Push used registers. */
+	PUSH	{r0-r4, r12}
+
+	/* Increment nesting count.  r3 holds the address of ulPortInterruptNesting
+	for future use.  r1 holds the original ulPortInterruptNesting value for
+	future use. */
+	LDR		r3, ulPortInterruptNestingConst
+	LDR		r1, [r3]
+	ADD		r4, r1, #1
+	STR		r4, [r3]
+
+	/* Read value from the interrupt acknowledge register, which is stored in r0
+	for future parameter and interrupt clearing use. */
+	LDR 	r2, ulICCIARConst
+	LDR		r2, [r2]
+	LDR		r0, [r2]
+
+	/* Ensure bit 2 of the stack pointer is clear.  r2 holds the bit 2 value for
+	future use.  _RB_ Is this ever needed provided the start of the stack is
+	alligned on an 8-byte boundary? */
+	MOV		r2, sp
+	AND		r2, r2, #4
+	SUB		sp, sp, r2
+
+	/* Call the interrupt handler. */
+	PUSH	{r0-r4, lr}
+	LDR		r1, vApplicationIRQHandlerConst
+	BLX		r1
+	POP		{r0-r4, lr}
+	ADD		sp, sp, r2
+
+	CPSID	i
+	DSB
+	ISB
+
+	/* Write the value read from ICCIAR to ICCEOIR. */
+	LDR 	r4, ulICCEOIRConst
+	LDR		r4, [r4]
+	STR		r0, [r4]
+
+	/* Restore the old nesting count. */
+	STR		r1, [r3]
+
+	/* A context switch is never performed if the nesting count is not 0. */
+	CMP		r1, #0
+	BNE		exit_without_switch
+
+	/* Did the interrupt request a context switch?  r1 holds the address of
+	ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
+	use. */
+	LDR		r1, =ulPortYieldRequired
+	LDR		r0, [r1]
+	CMP		r0, #0
+	BNE		switch_before_exit
+
+exit_without_switch:
+	/* No context switch.  Restore used registers, LR_irq and SPSR before
+	returning. */
+	POP		{r0-r4, r12}
+	CPS		#IRQ_MODE
+	POP		{LR}
+	MSR		SPSR_cxsf, LR
+	POP		{LR}
+	MOVS	PC, LR
+
+switch_before_exit:
+	/* A context swtich is to be performed.  Clear the context switch pending
+	flag. */
+	MOV		r0, #0
+	STR		r0, [r1]
+
+	/* Restore used registers, LR-irq and SPSR before saving the context
+	to the task stack. */
+	POP		{r0-r4, r12}
+	CPS		#IRQ_MODE
+	POP		{LR}
+	MSR		SPSR_cxsf, LR
+	POP		{LR}
+	portSAVE_CONTEXT
+
+	/* Call the function that selects the new task to execute.
+	vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
+	instructions, or 8 byte aligned stack allocated data.  LR does not need
+	saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
+	LDR		R0, vTaskSwitchContextConst
+	BLX		R0
+
+	/* Restore the context of, and branch to, the task selected to execute
+	next. */
+	portRESTORE_CONTEXT
+
+ulICCIARConst:	.word ulICCIAR
+ulICCEOIRConst:	.word ulICCEOIR
+ulICCPMRConst: .word ulICCPMR
+pxCurrentTCBConst: .word pxCurrentTCB
+ulCriticalNestingConst: .word ulCriticalNesting
+ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
+ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
+vTaskSwitchContextConst: .word vTaskSwitchContext
+vApplicationIRQHandlerConst: .word vApplicationIRQHandler
+ulPortInterruptNestingConst: .word ulPortInterruptNesting
+
+.end
+
+
+
+
+

portable/GCC/ARM_CR5/portmacro.h

@@ -0,0 +1,195 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+	extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+typedef uint32_t TickType_t;
+#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/* Called at the end of an ISR that can cause a context switch. */
+#define portEND_SWITCHING_ISR( xSwitchRequired )\
+{												\
+extern uint32_t ulPortYieldRequired;			\
+												\
+	if( xSwitchRequired != pdFALSE )			\
+	{											\
+		ulPortYieldRequired = pdTRUE;			\
+	}											\
+}
+
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+#define portYIELD() __asm volatile ( "SWI 0" ::: "memory" );
+
+
+/*-----------------------------------------------------------
+ * Critical section control
+ *----------------------------------------------------------*/
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern uint32_t ulPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
+extern void vPortInstallFreeRTOSVectorTable( void );
+
+/* These macros do not globally disable/enable interrupts.  They do mask off
+interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+#define portDISABLE_INTERRUPTS()	ulPortSetInterruptMask()
+#define portENABLE_INTERRUPTS()		vPortClearInterruptMask( 0 )
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask(x)
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not required for this port but included in case common demo code that uses these
+macros is used. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )	void vFunction( void *pvParameters )
+
+/* Prototype of the FreeRTOS tick handler.  This must be installed as the
+handler for whichever peripheral is used to generate the RTOS tick. */
+void FreeRTOS_Tick_Handler( void );
+
+/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
+before any floating point instructions are executed. */
+void vPortTaskUsesFPU( void );
+#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
+
+#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
+#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( uxReadyPriorities ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif /* configASSERT */
+
+#define portNOP() __asm volatile( "NOP" )
+
+
+#ifdef __cplusplus
+	} /* extern C */
+#endif
+
+
+/* The number of bits to shift for an interrupt priority is dependent on the
+number of bits implemented by the interrupt controller. */
+#if configUNIQUE_INTERRUPT_PRIORITIES == 16
+	#define portPRIORITY_SHIFT 4
+	#define portMAX_BINARY_POINT_VALUE	3
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 32
+	#define portPRIORITY_SHIFT 3
+	#define portMAX_BINARY_POINT_VALUE	2
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 64
+	#define portPRIORITY_SHIFT 2
+	#define portMAX_BINARY_POINT_VALUE	1
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 128
+	#define portPRIORITY_SHIFT 1
+	#define portMAX_BINARY_POINT_VALUE	0
+#elif configUNIQUE_INTERRUPT_PRIORITIES == 256
+	#define portPRIORITY_SHIFT 0
+	#define portMAX_BINARY_POINT_VALUE	0
+#else
+	#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting.  configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
+#endif
+
+/* Interrupt controller access addresses. */
+#define portICCPMR_PRIORITY_MASK_OFFSET  						( 0x04 )
+#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET 				( 0x0C )
+#define portICCEOIR_END_OF_INTERRUPT_OFFSET 					( 0x10 )
+#define portICCBPR_BINARY_POINT_OFFSET							( 0x08 )
+#define portICCRPR_RUNNING_PRIORITY_OFFSET						( 0x14 )
+
+#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS 		( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET )
+#define portICCPMR_PRIORITY_MASK_REGISTER 					( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) )
+#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS 	( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET )
+#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS 		( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET )
+#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS 			( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET )
+#define portICCBPR_BINARY_POINT_REGISTER 					( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) )
+#define portICCRPR_RUNNING_PRIORITY_REGISTER 				( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ARM_CRx_No_GIC/port.c

@@ -0,0 +1,319 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#ifndef configSETUP_TICK_INTERRUPT
+	#error configSETUP_TICK_INTERRUPT() must be defined in FreeRTOSConfig.h to call the function that sets up the tick interrupt.
+#endif
+
+#ifndef configCLEAR_TICK_INTERRUPT
+	#error configCLEAR_TICK_INTERRUPT must be defined in FreeRTOSConfig.h to clear which ever interrupt was used to generate the tick interrupt.
+#endif
+
+/* A critical section is exited when the critical section nesting count reaches
+this value. */
+#define portNO_CRITICAL_NESTING			( ( uint32_t ) 0 )
+
+/* Tasks are not created with a floating point context, but can be given a
+floating point context after they have been created.  A variable is stored as
+part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
+does not have an FPU context, or any other value if the task does have an FPU
+context. */
+#define portNO_FLOATING_POINT_CONTEXT	( ( StackType_t ) 0 )
+
+/* Constants required to setup the initial task context. */
+#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */
+#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
+#define portTHUMB_MODE_ADDRESS			( 0x01UL )
+
+/* Masks all bits in the APSR other than the mode bits. */
+#define portAPSR_MODE_BITS_MASK			( 0x1F )
+
+/* The value of the mode bits in the APSR when the CPU is executing in user
+mode. */
+#define portAPSR_USER_MODE				( 0x10 )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case it messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts the first task executing.  This function is necessarily written in
+ * assembly code so is implemented in portASM.s.
+ */
+extern void vPortRestoreTaskContext( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/* A variable is used to keep track of the critical section nesting.  This
+variable has to be stored as part of the task context and must be initialised to
+a non zero value to ensure interrupts don't inadvertently become unmasked before
+the scheduler starts.  As it is stored as part of the task context it will
+automatically be set to 0 when the first task is started. */
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/* Saved as part of the task context.  If ulPortTaskHasFPUContext is non-zero then
+a floating point context must be saved and restored for the task. */
+volatile uint32_t ulPortTaskHasFPUContext = pdFALSE;
+
+/* Set to 1 to pend a context switch from an ISR. */
+volatile uint32_t ulPortYieldRequired = pdFALSE;
+
+/* Counts the interrupt nesting depth.  A context switch is only performed if
+if the nesting depth is 0. */
+volatile uint32_t ulPortInterruptNesting = 0UL;
+
+/* Used in the asm file to clear an interrupt. */
+__attribute__(( used )) const uint32_t ulICCEOIR = configEOI_ADDRESS;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Setup the initial stack of the task.  The stack is set exactly as
+	expected by the portRESTORE_CONTEXT() macro.
+
+	The fist real value on the stack is the status register, which is set for
+	system mode, with interrupts enabled.  A few NULLs are added first to ensure
+	GDB does not try decoding a non-existent return address. */
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
+
+	if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )
+	{
+		/* The task will start in THUMB mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}
+
+	pxTopOfStack--;
+
+	/* Next the return address, which in this case is the start of the task. */
+	*pxTopOfStack = ( StackType_t ) pxCode;
+	pxTopOfStack--;
+
+	/* Next all the registers other than the stack pointer. */
+	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* R14 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The task will start with a critical nesting count of 0 as interrupts are
+	enabled. */
+	*pxTopOfStack = portNO_CRITICAL_NESTING;
+	pxTopOfStack--;
+
+	/* The task will start without a floating point context.  A task that uses
+	the floating point hardware must call vPortTaskUsesFPU() before executing
+	any floating point instructions. */
+	*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( ulPortInterruptNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+uint32_t ulAPSR;
+
+	/* Only continue if the CPU is not in User mode.  The CPU must be in a
+	Privileged mode for the scheduler to start. */
+	__asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) :: "memory" );
+	ulAPSR &= portAPSR_MODE_BITS_MASK;
+	configASSERT( ulAPSR != portAPSR_USER_MODE );
+
+	if( ulAPSR != portAPSR_USER_MODE )
+	{
+		/* Start the timer that generates the tick ISR. */
+		portDISABLE_INTERRUPTS();
+		configSETUP_TICK_INTERRUPT();
+
+		/* Start the first task executing. */
+		vPortRestoreTaskContext();
+	}
+
+	/* Will only get here if vTaskStartScheduler() was called with the CPU in
+	a non-privileged mode or the binary point register was not set to its lowest
+	possible value.  prvTaskExitError() is referenced to prevent a compiler
+	warning about it being defined but not referenced in the case that the user
+	defines their own exit address. */
+	( void ) prvTaskExitError;
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	portDISABLE_INTERRUPTS();
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( ulCriticalNesting == 1 )
+	{
+		configASSERT( ulPortInterruptNesting == 0 );
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as the critical section is being
+		exited. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then all interrupt
+		priorities must be re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Critical nesting has reached zero so all interrupt priorities
+			should be unmasked. */
+			portENABLE_INTERRUPTS();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+void FreeRTOS_Tick_Handler( void )
+{
+uint32_t ulInterruptStatus;
+
+	ulInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+
+	/* Increment the RTOS tick. */
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		ulPortYieldRequired = pdTRUE;
+	}
+
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulInterruptStatus );
+
+	configCLEAR_TICK_INTERRUPT();
+}
+/*-----------------------------------------------------------*/
+
+void vPortTaskUsesFPU( void )
+{
+uint32_t ulInitialFPSCR = 0;
+
+	/* A task is registering the fact that it needs an FPU context.  Set the
+	FPU flag (which is saved as part of the task context). */
+	ulPortTaskHasFPUContext = pdTRUE;
+
+	/* Initialise the floating point status register. */
+	__asm volatile ( "FMXR 	FPSCR, %0" :: "r" (ulInitialFPSCR) : "memory" );
+}
+/*-----------------------------------------------------------*/
+
+

portable/GCC/ARM_CRx_No_GIC/portASM.S

@@ -0,0 +1,264 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+	.text
+	.arm
+
+	.set SYS_MODE,	0x1f
+	.set SVC_MODE,	0x13
+	.set IRQ_MODE,	0x12
+
+	/* Variables and functions. */
+	.extern ulMaxAPIPriorityMask
+	.extern _freertos_vector_table
+	.extern pxCurrentTCB
+	.extern vTaskSwitchContext
+	.extern vApplicationIRQHandler
+	.extern ulPortInterruptNesting
+	.extern ulPortTaskHasFPUContext
+	.extern ulICCEOIR
+	.extern ulPortYieldRequired
+
+	.global FreeRTOS_IRQ_Handler
+	.global FreeRTOS_SVC_Handler
+	.global vPortRestoreTaskContext
+
+
+.macro portSAVE_CONTEXT
+
+	/* Save the LR and SPSR onto the system mode stack before switching to
+	system mode to save the remaining system mode registers. */
+	SRSDB	sp!, #SYS_MODE
+	CPS		#SYS_MODE
+	PUSH	{R0-R12, R14}
+
+	/* Push the critical nesting count. */
+	LDR		R2, ulCriticalNestingConst
+	LDR		R1, [R2]
+	PUSH	{R1}
+
+	/* Does the task have a floating point context that needs saving?  If
+	ulPortTaskHasFPUContext is 0 then no. */
+	LDR		R2, ulPortTaskHasFPUContextConst
+	LDR		R3, [R2]
+	CMP		R3, #0
+
+	/* Save the floating point context, if any. */
+	FMRXNE  R1,  FPSCR
+	VPUSHNE {D0-D15}
+#if configFPU_D32 == 1
+	VPUSHNE	{D16-D31}
+#endif /* configFPU_D32 */
+	PUSHNE	{R1}
+
+	/* Save ulPortTaskHasFPUContext itself. */
+	PUSH	{R3}
+
+	/* Save the stack pointer in the TCB. */
+	LDR		R0, pxCurrentTCBConst
+	LDR		R1, [R0]
+	STR		SP, [R1]
+
+	.endm
+
+; /**********************************************************************/
+
+.macro portRESTORE_CONTEXT
+
+	/* Set the SP to point to the stack of the task being restored. */
+	LDR		R0, pxCurrentTCBConst
+	LDR		R1, [R0]
+	LDR		SP, [R1]
+
+	/* Is there a floating point context to restore?  If the restored
+	ulPortTaskHasFPUContext is zero then no. */
+	LDR		R0, ulPortTaskHasFPUContextConst
+	POP		{R1}
+	STR		R1, [R0]
+	CMP		R1, #0
+
+	/* Restore the floating point context, if any. */
+	POPNE 	{R0}
+#if configFPU_D32 == 1
+	VPOPNE	{D16-D31}
+#endif /* configFPU_D32 */
+	VPOPNE	{D0-D15}
+	VMSRNE  FPSCR, R0
+
+	/* Restore the critical section nesting depth. */
+	LDR		R0, ulCriticalNestingConst
+	POP		{R1}
+	STR		R1, [R0]
+
+	/* Restore all system mode registers other than the SP (which is already
+	being used). */
+	POP		{R0-R12, R14}
+
+	/* Return to the task code, loading CPSR on the way. */
+	RFEIA	sp!
+
+	.endm
+
+
+
+
+/******************************************************************************
+ * SVC handler is used to yield.
+ *****************************************************************************/
+.align 4
+.type FreeRTOS_SVC_Handler, %function
+FreeRTOS_SVC_Handler:
+	/* Save the context of the current task and select a new task to run. */
+	portSAVE_CONTEXT
+	LDR R0, vTaskSwitchContextConst
+	BLX	R0
+	portRESTORE_CONTEXT
+
+
+/******************************************************************************
+ * vPortRestoreTaskContext is used to start the scheduler.
+ *****************************************************************************/
+.align 4
+.type vPortRestoreTaskContext, %function
+vPortRestoreTaskContext:
+	/* Switch to system mode. */
+	CPS		#SYS_MODE
+	portRESTORE_CONTEXT
+
+.align 4
+.type FreeRTOS_IRQ_Handler, %function
+FreeRTOS_IRQ_Handler:
+	/* Return to the interrupted instruction. */
+	SUB		lr, lr, #4
+
+	/* Push the return address and SPSR. */
+	PUSH	{lr}
+	MRS		lr, SPSR
+	PUSH	{lr}
+
+	/* Change to supervisor mode to allow reentry. */
+	CPS		#0x13
+
+	/* Push used registers. */
+	PUSH	{r0-r3, r12}
+
+	/* Increment nesting count.  r3 holds the address of ulPortInterruptNesting
+	for future use.  r1 holds the original ulPortInterruptNesting value for
+	future use. */
+	LDR		r3, ulPortInterruptNestingConst
+	LDR		r1, [r3]
+	ADD		r0, r1, #1
+	STR		r0, [r3]
+
+	/* Ensure bit 2 of the stack pointer is clear.  r2 holds the bit 2 value for
+	future use. */
+	MOV		r0, sp
+	AND		r2, r0, #4
+	SUB		sp, sp, r2
+
+	/* Call the interrupt handler. */
+	PUSH	{r0-r3, lr}
+	LDR		r1, vApplicationIRQHandlerConst
+	BLX		r1
+	POP		{r0-r3, lr}
+	ADD		sp, sp, r2
+
+	CPSID	i
+	DSB
+	ISB
+
+	/* Write to the EOI register. */
+	LDR 	r0, ulICCEOIRConst
+	LDR		r2, [r0]
+	STR		r0, [r2]
+
+	/* Restore the old nesting count. */
+	STR		r1, [r3]
+
+	/* A context switch is never performed if the nesting count is not 0. */
+	CMP		r1, #0
+	BNE		exit_without_switch
+
+	/* Did the interrupt request a context switch?  r1 holds the address of
+	ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
+	use. */
+	LDR		r1, ulPortYieldRequiredConst
+	LDR		r0, [r1]
+	CMP		r0, #0
+	BNE		switch_before_exit
+
+exit_without_switch:
+	/* No context switch.  Restore used registers, LR_irq and SPSR before
+	returning. */
+	POP		{r0-r3, r12}
+	CPS		#IRQ_MODE
+	POP		{LR}
+	MSR		SPSR_cxsf, LR
+	POP		{LR}
+	MOVS	PC, LR
+
+switch_before_exit:
+	/* A context swtich is to be performed.  Clear the context switch pending
+	flag. */
+	MOV		r0, #0
+	STR		r0, [r1]
+
+	/* Restore used registers, LR-irq and SPSR before saving the context
+	to the task stack. */
+	POP		{r0-r3, r12}
+	CPS		#IRQ_MODE
+	POP		{LR}
+	MSR		SPSR_cxsf, LR
+	POP		{LR}
+	portSAVE_CONTEXT
+
+	/* Call the function that selects the new task to execute.
+	vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
+	instructions, or 8 byte aligned stack allocated data.  LR does not need
+	saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
+	LDR		R0, vTaskSwitchContextConst
+	BLX		R0
+
+	/* Restore the context of, and branch to, the task selected to execute
+	next. */
+	portRESTORE_CONTEXT
+
+ulICCEOIRConst:	.word ulICCEOIR
+pxCurrentTCBConst: .word pxCurrentTCB
+ulCriticalNestingConst: .word ulCriticalNesting
+ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
+vTaskSwitchContextConst: .word vTaskSwitchContext
+vApplicationIRQHandlerConst: .word vApplicationIRQHandler
+ulPortInterruptNestingConst: .word ulPortInterruptNesting
+ulPortYieldRequiredConst: .word ulPortYieldRequired
+
+.end
+
+
+
+
+

portable/GCC/ARM_CRx_No_GIC/portmacro.h

@@ -0,0 +1,181 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+	extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+typedef uint32_t TickType_t;
+#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+not need to be guarded with a critical section. */
+#define portTICK_TYPE_IS_ATOMIC 1
+
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			8
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/* Called at the end of an ISR that can cause a context switch. */
+#define portEND_SWITCHING_ISR( xSwitchRequired )\
+{												\
+extern volatile uint32_t ulPortYieldRequired;	\
+												\
+	if( xSwitchRequired != pdFALSE )			\
+	{											\
+		ulPortYieldRequired = pdTRUE;			\
+	}											\
+}
+
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+#define portYIELD() __asm volatile ( "SWI 0		\n"				\
+									 "ISB		  " ::: "memory" );
+
+
+/*-----------------------------------------------------------
+ * Critical section control
+ *----------------------------------------------------------*/
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern uint32_t ulPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
+extern void vPortInstallFreeRTOSVectorTable( void );
+
+/* The I bit within the CPSR. */
+#define portINTERRUPT_ENABLE_BIT	( 1 << 7 )
+
+/* In the absence of a priority mask register, these functions and macros
+globally enable and disable interrupts. */
+#define portENTER_CRITICAL()		vPortEnterCritical();
+#define portEXIT_CRITICAL()			vPortExitCritical();
+#define portENABLE_INTERRUPTS()		__asm volatile ( "CPSIE i 	\n"	::: "memory" );
+#define portDISABLE_INTERRUPTS()	__asm volatile ( "CPSID i 	\n"		\
+													 "DSB		\n"		\
+													 "ISB		  " ::: "memory" );
+
+__attribute__( ( always_inline ) ) static __inline uint32_t portINLINE_SET_INTERRUPT_MASK_FROM_ISR( void )
+{
+volatile uint32_t ulCPSR;
+
+	__asm volatile ( "MRS %0, CPSR" : "=r" (ulCPSR) :: "memory" );
+	ulCPSR &= portINTERRUPT_ENABLE_BIT;
+	portDISABLE_INTERRUPTS();
+	return ulCPSR;
+}
+
+#define portSET_INTERRUPT_MASK_FROM_ISR() portINLINE_SET_INTERRUPT_MASK_FROM_ISR()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	if( x == 0 ) portENABLE_INTERRUPTS()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not required for this port but included in case common demo code that uses these
+macros is used. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )	void vFunction( void *pvParameters )
+
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+
+/* Prototype of the FreeRTOS tick handler.  This must be installed as the
+handler for whichever peripheral is used to generate the RTOS tick. */
+void FreeRTOS_Tick_Handler( void );
+
+/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
+before any floating point instructions are executed. */
+void vPortTaskUsesFPU( void );
+#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
+
+#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
+#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
+
+/* Architecture specific optimisations. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#define portNOP() __asm volatile( "NOP" )
+#define portINLINE __inline
+
+#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+
+#ifdef __cplusplus
+	} /* extern C */
+#endif
+
+
+#endif /* PORTMACRO_H */
+

portable/GCC/ATMega323/port.c

@@ -0,0 +1,426 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* 
+
+Changes from V2.6.0
+
+	+ AVR port - Replaced the inb() and outb() functions with direct memory
+	  access.  This allows the port to be built with the 20050414 build of
+	  WinAVR.
+*/
+
+#include <stdlib.h>
+#include <avr/interrupt.h>
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the AVR port.
+ *----------------------------------------------------------*/
+
+/* Start tasks with interrupts enables. */
+#define portFLAGS_INT_ENABLED					( ( StackType_t ) 0x80 )
+
+/* Hardware constants for timer 1. */
+#define portCLEAR_COUNTER_ON_MATCH				( ( uint8_t ) 0x08 )
+#define portPRESCALE_64							( ( uint8_t ) 0x03 )
+#define portCLOCK_PRESCALER						( ( uint32_t ) 64 )
+#define portCOMPARE_MATCH_A_INTERRUPT_ENABLE	( ( uint8_t ) 0x10 )
+
+/*-----------------------------------------------------------*/
+
+/* We require the address of the pxCurrentTCB variable, but don't want to know
+any details of its type. */
+typedef void TCB_t;
+extern volatile TCB_t * volatile pxCurrentTCB;
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * Macro to save all the general purpose registers, the save the stack pointer
+ * into the TCB.  
+ * 
+ * The first thing we do is save the flags then disable interrupts.  This is to 
+ * guard our stack against having a context switch interrupt after we have already 
+ * pushed the registers onto the stack - causing the 32 registers to be on the 
+ * stack twice. 
+ * 
+ * r1 is set to zero as the compiler expects it to be thus, however some
+ * of the math routines make use of R1. 
+ * 
+ * The interrupts will have been disabled during the call to portSAVE_CONTEXT()
+ * so we need not worry about reading/writing to the stack pointer. 
+ */
+
+#define portSAVE_CONTEXT()									\
+	asm volatile (	"push	r0						\n\t"	\
+					"in		r0, __SREG__			\n\t"	\
+					"cli							\n\t"	\
+					"push	r0						\n\t"	\
+					"push	r1						\n\t"	\
+					"clr	r1						\n\t"	\
+					"push	r2						\n\t"	\
+					"push	r3						\n\t"	\
+					"push	r4						\n\t"	\
+					"push	r5						\n\t"	\
+					"push	r6						\n\t"	\
+					"push	r7						\n\t"	\
+					"push	r8						\n\t"	\
+					"push	r9						\n\t"	\
+					"push	r10						\n\t"	\
+					"push	r11						\n\t"	\
+					"push	r12						\n\t"	\
+					"push	r13						\n\t"	\
+					"push	r14						\n\t"	\
+					"push	r15						\n\t"	\
+					"push	r16						\n\t"	\
+					"push	r17						\n\t"	\
+					"push	r18						\n\t"	\
+					"push	r19						\n\t"	\
+					"push	r20						\n\t"	\
+					"push	r21						\n\t"	\
+					"push	r22						\n\t"	\
+					"push	r23						\n\t"	\
+					"push	r24						\n\t"	\
+					"push	r25						\n\t"	\
+					"push	r26						\n\t"	\
+					"push	r27						\n\t"	\
+					"push	r28						\n\t"	\
+					"push	r29						\n\t"	\
+					"push	r30						\n\t"	\
+					"push	r31						\n\t"	\
+					"lds	r26, pxCurrentTCB		\n\t"	\
+					"lds	r27, pxCurrentTCB + 1	\n\t"	\
+					"in		r0, 0x3d				\n\t"	\
+					"st		x+, r0					\n\t"	\
+					"in		r0, 0x3e				\n\t"	\
+					"st		x+, r0					\n\t"	\
+				);
+
+/* 
+ * Opposite to portSAVE_CONTEXT().  Interrupts will have been disabled during
+ * the context save so we can write to the stack pointer. 
+ */
+
+#define portRESTORE_CONTEXT()								\
+	asm volatile (	"lds	r26, pxCurrentTCB		\n\t"	\
+					"lds	r27, pxCurrentTCB + 1	\n\t"	\
+					"ld		r28, x+					\n\t"	\
+					"out	__SP_L__, r28			\n\t"	\
+					"ld		r29, x+					\n\t"	\
+					"out	__SP_H__, r29			\n\t"	\
+					"pop	r31						\n\t"	\
+					"pop	r30						\n\t"	\
+					"pop	r29						\n\t"	\
+					"pop	r28						\n\t"	\
+					"pop	r27						\n\t"	\
+					"pop	r26						\n\t"	\
+					"pop	r25						\n\t"	\
+					"pop	r24						\n\t"	\
+					"pop	r23						\n\t"	\
+					"pop	r22						\n\t"	\
+					"pop	r21						\n\t"	\
+					"pop	r20						\n\t"	\
+					"pop	r19						\n\t"	\
+					"pop	r18						\n\t"	\
+					"pop	r17						\n\t"	\
+					"pop	r16						\n\t"	\
+					"pop	r15						\n\t"	\
+					"pop	r14						\n\t"	\
+					"pop	r13						\n\t"	\
+					"pop	r12						\n\t"	\
+					"pop	r11						\n\t"	\
+					"pop	r10						\n\t"	\
+					"pop	r9						\n\t"	\
+					"pop	r8						\n\t"	\
+					"pop	r7						\n\t"	\
+					"pop	r6						\n\t"	\
+					"pop	r5						\n\t"	\
+					"pop	r4						\n\t"	\
+					"pop	r3						\n\t"	\
+					"pop	r2						\n\t"	\
+					"pop	r1						\n\t"	\
+					"pop	r0						\n\t"	\
+					"out	__SREG__, r0			\n\t"	\
+					"pop	r0						\n\t"	\
+				);
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Perform hardware setup to enable ticks from timer 1, compare match A.
+ */
+static void prvSetupTimerInterrupt( void );
+/*-----------------------------------------------------------*/
+
+/* 
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+uint16_t usAddress;
+
+	/* Place a few bytes of known values on the bottom of the stack. 
+	This is just useful for debugging. */
+
+	*pxTopOfStack = 0x11;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x22;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x33;
+	pxTopOfStack--;
+
+	/* Simulate how the stack would look after a call to vPortYield() generated by 
+	the compiler. */
+
+	/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
+
+	/* The start of the task code will be popped off the stack last, so place
+	it on first. */
+	usAddress = ( uint16_t ) pxCode;
+	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
+	pxTopOfStack--;
+
+	usAddress >>= 8;
+	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
+	pxTopOfStack--;
+
+	/* Next simulate the stack as if after a call to portSAVE_CONTEXT().  
+	portSAVE_CONTEXT places the flags on the stack immediately after r0
+	to ensure the interrupts get disabled as soon as possible, and so ensuring
+	the stack use is minimal should a context switch interrupt occur. */
+	*pxTopOfStack = ( StackType_t ) 0x00;	/* R0 */
+	pxTopOfStack--;
+	*pxTopOfStack = portFLAGS_INT_ENABLED;
+	pxTopOfStack--;
+
+
+	/* Now the remaining registers.   The compiler expects R1 to be 0. */
+	*pxTopOfStack = ( StackType_t ) 0x00;	/* R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x02;	/* R2 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x03;	/* R3 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x04;	/* R4 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x05;	/* R5 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x06;	/* R6 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x07;	/* R7 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x08;	/* R8 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x09;	/* R9 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x10;	/* R10 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x11;	/* R11 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12;	/* R12 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x13;	/* R13 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x14;	/* R14 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x15;	/* R15 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x16;	/* R16 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x17;	/* R17 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x18;	/* R18 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x19;	/* R19 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x20;	/* R20 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x21;	/* R21 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x22;	/* R22 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x23;	/* R23 */
+	pxTopOfStack--;
+
+	/* Place the parameter on the stack in the expected location. */
+	usAddress = ( uint16_t ) pvParameters;
+	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
+	pxTopOfStack--;
+
+	usAddress >>= 8;
+	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0x26;	/* R26 X */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x27;	/* R27 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x28;	/* R28 Y */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x29;	/* R29 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x30;	/* R30 Z */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x031;	/* R31 */
+	pxTopOfStack--;
+
+	/*lint +e950 +e611 +e923 */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Setup the hardware to generate the tick. */
+	prvSetupTimerInterrupt();
+
+	/* Restore the context of the first task that is going to run. */
+	portRESTORE_CONTEXT();
+
+	/* Simulate a function call end as generated by the compiler.  We will now
+	jump to the start of the task the context of which we have just restored. */
+	asm volatile ( "ret" );
+
+	/* Should not get here. */
+	return pdTRUE;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the AVR port will get stopped.  If required simply
+	disable the tick interrupt here. */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Manual context switch.  The first thing we do is save the registers so we
+ * can use a naked attribute.
+ */
+void vPortYield( void ) __attribute__ ( ( naked ) );
+void vPortYield( void )
+{
+	portSAVE_CONTEXT();
+	vTaskSwitchContext();
+	portRESTORE_CONTEXT();
+
+	asm volatile ( "ret" );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Context switch function used by the tick.  This must be identical to 
+ * vPortYield() from the call to vTaskSwitchContext() onwards.  The only
+ * difference from vPortYield() is the tick count is incremented as the
+ * call comes from the tick ISR.
+ */
+void vPortYieldFromTick( void ) __attribute__ ( ( naked ) );
+void vPortYieldFromTick( void )
+{
+	portSAVE_CONTEXT();
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		vTaskSwitchContext();
+	}
+	portRESTORE_CONTEXT();
+
+	asm volatile ( "ret" );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup timer 1 compare match A to generate a tick interrupt.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+uint32_t ulCompareMatch;
+uint8_t ucHighByte, ucLowByte;
+
+	/* Using 16bit timer 1 to generate the tick.  Correct fuses must be
+	selected for the configCPU_CLOCK_HZ clock. */
+
+	ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
+
+	/* We only have 16 bits so have to scale to get our required tick rate. */
+	ulCompareMatch /= portCLOCK_PRESCALER;
+
+	/* Adjust for correct value. */
+	ulCompareMatch -= ( uint32_t ) 1;
+
+	/* Setup compare match value for compare match A.  Interrupts are disabled 
+	before this is called so we need not worry here. */
+	ucLowByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff );
+	ulCompareMatch >>= 8;
+	ucHighByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff );
+	OCR1AH = ucHighByte;
+	OCR1AL = ucLowByte;
+
+	/* Setup clock source and compare match behaviour. */
+	ucLowByte = portCLEAR_COUNTER_ON_MATCH | portPRESCALE_64;
+	TCCR1B = ucLowByte;
+
+	/* Enable the interrupt - this is okay as interrupt are currently globally
+	disabled. */
+	ucLowByte = TIMSK;
+	ucLowByte |= portCOMPARE_MATCH_A_INTERRUPT_ENABLE;
+	TIMSK = ucLowByte;
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_PREEMPTION == 1
+
+	/*
+	 * Tick ISR for preemptive scheduler.  We can use a naked attribute as
+	 * the context is saved at the start of vPortYieldFromTick().  The tick
+	 * count is incremented after the context is saved.
+	 */
+	void SIG_OUTPUT_COMPARE1A( void ) __attribute__ ( ( signal, naked ) );
+	void SIG_OUTPUT_COMPARE1A( void )
+	{
+		vPortYieldFromTick();
+		asm volatile ( "reti" );
+	}
+#else
+
+	/*
+	 * Tick ISR for the cooperative scheduler.  All this does is increment the
+	 * tick count.  We don't need to switch context, this can only be done by
+	 * manual calls to taskYIELD();
+	 */
+	void SIG_OUTPUT_COMPARE1A( void ) __attribute__ ( ( signal ) );
+	void SIG_OUTPUT_COMPARE1A( void )
+	{
+		xTaskIncrementTick();
+	}
+#endif
+
+
+	

portable/GCC/ATMega323/portmacro.h

@@ -0,0 +1,107 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+Changes from V1.2.3
+
+	+ portCPU_CLOSK_HZ definition changed to 8MHz base 10, previously it
+	  base 16.
+*/
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		int
+#define portSTACK_TYPE	uint8_t
+#define portBASE_TYPE	char
+
+typedef portSTACK_TYPE StackType_t;
+typedef signed char BaseType_t;
+typedef unsigned char UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Critical section management. */
+#define portENTER_CRITICAL()		asm volatile ( "in		__tmp_reg__, __SREG__" :: );	\
+									asm volatile ( "cli" :: );								\
+									asm volatile ( "push	__tmp_reg__" :: )
+
+#define portEXIT_CRITICAL()			asm volatile ( "pop		__tmp_reg__" :: );				\
+									asm volatile ( "out		__SREG__, __tmp_reg__" :: )
+
+#define portDISABLE_INTERRUPTS()	asm volatile ( "cli" :: );
+#define portENABLE_INTERRUPTS()		asm volatile ( "sei" :: );
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			1
+#define portNOP()					asm volatile ( "nop" );
+/*-----------------------------------------------------------*/
+
+/* Kernel utilities. */
+extern void vPortYield( void ) __attribute__ ( ( naked ) );
+#define portYIELD()					vPortYield()
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/AVR32_UC3/exception.S

@@ -0,0 +1,297 @@
+/*This file is prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief Exception and interrupt vectors.
+ *
+ * This file maps all events supported by an AVR32UC.
+ *
+ * - Compiler:           GNU GCC for AVR32
+ * - Supported devices:  All AVR32UC devices with an INTC module can be used.
+ * - AppNote:
+ *
+ * \author               Atmel Corporation: http://www.atmel.com \n
+ *                       Support and FAQ: http://support.atmel.no/
+ *
+ ******************************************************************************/
+
+/* Copyright (c) 2007, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+#include <avr32/io.h>
+#include "intc.h"
+
+
+//! @{
+//! \verbatim
+
+
+  .section  .exception, "ax", @progbits
+
+
+// Start of Exception Vector Table.
+
+  // EVBA must be aligned with a power of two strictly greater than the EVBA-
+  // relative offset of the last vector.
+  .balign 0x200
+
+  // Export symbol.
+  .global _evba
+  .type _evba, @function
+_evba:
+
+        .org  0x000
+        // Unrecoverable Exception.
+_handle_Unrecoverable_Exception:
+        rjmp $
+
+        .org  0x004
+        // TLB Multiple Hit: UNUSED IN AVR32UC.
+_handle_TLB_Multiple_Hit:
+        rjmp $
+
+        .org  0x008
+        // Bus Error Data Fetch.
+_handle_Bus_Error_Data_Fetch:
+        rjmp $
+
+        .org  0x00C
+         // Bus Error Instruction Fetch.
+_handle_Bus_Error_Instruction_Fetch:
+        rjmp $
+
+        .org  0x010
+        // NMI.
+_handle_NMI:
+        rjmp $
+
+        .org  0x014
+        // Instruction Address.
+_handle_Instruction_Address:
+        rjmp $
+
+        .org  0x018
+        // ITLB Protection.
+_handle_ITLB_Protection:
+        rjmp $
+
+        .org  0x01C
+        // Breakpoint.
+_handle_Breakpoint:
+        rjmp $
+
+        .org  0x020
+        // Illegal Opcode.
+_handle_Illegal_Opcode:
+        rjmp $
+
+        .org  0x024
+        // Unimplemented Instruction.
+_handle_Unimplemented_Instruction:
+        rjmp $
+
+        .org  0x028
+        // Privilege Violation.
+_handle_Privilege_Violation:
+        rjmp $
+
+        .org  0x02C
+        // Floating-Point: UNUSED IN AVR32UC.
+_handle_Floating_Point:
+        rjmp $
+
+        .org  0x030
+        // Coprocessor Absent: UNUSED IN AVR32UC.
+_handle_Coprocessor_Absent:
+        rjmp $
+
+        .org  0x034
+        // Data Address (Read).
+_handle_Data_Address_Read:
+        rjmp $
+
+        .org  0x038
+        // Data Address (Write).
+_handle_Data_Address_Write:
+        rjmp $
+
+        .org  0x03C
+        // DTLB Protection (Read).
+_handle_DTLB_Protection_Read:
+        rjmp $
+
+        .org  0x040
+        // DTLB Protection (Write).
+_handle_DTLB_Protection_Write:
+        rjmp $
+
+        .org  0x044
+        // DTLB Modified: UNUSED IN AVR32UC.
+_handle_DTLB_Modified:
+        rjmp $
+
+        .org  0x050
+        // ITLB Miss: UNUSED IN AVR32UC.
+_handle_ITLB_Miss:
+        rjmp $
+
+        .org  0x060
+        // DTLB Miss (Read): UNUSED IN AVR32UC.
+_handle_DTLB_Miss_Read:
+        rjmp $
+
+        .org  0x070
+        // DTLB Miss (Write): UNUSED IN AVR32UC.
+_handle_DTLB_Miss_Write:
+        rjmp $
+
+        .org  0x100
+        // Supervisor Call.
+_handle_Supervisor_Call:
+        lda.w   pc, SCALLYield
+
+
+// Interrupt support.
+// The interrupt controller must provide the offset address relative to EVBA.
+// Important note:
+//   All interrupts call a C function named _get_interrupt_handler.
+//   This function will read group and interrupt line number to then return in
+//   R12 a pointer to a user-provided interrupt handler.
+
+  .balign 4
+
+_int0:
+  // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the
+  // CPU upon interrupt entry.
+#if 1 // B1832: interrupt stack changed to exception stack if exception is detected.
+  mfsr    r12, AVR32_SR
+  bfextu  r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE
+  cp.w    r12, 0b110
+  brlo    _int0_normal
+  lddsp   r12, sp[0 * 4]
+  stdsp   sp[6 * 4], r12
+  lddsp   r12, sp[1 * 4]
+  stdsp   sp[7 * 4], r12
+  lddsp   r12, sp[3 * 4]
+  sub     sp, -6 * 4
+  rete
+_int0_normal:
+#endif
+  mov     r12, 0  // Pass the int_lev parameter to the _get_interrupt_handler function.
+  call    _get_interrupt_handler
+  cp.w    r12, 0  // Get the pointer to the interrupt handler returned by the function.
+  movne   pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler.
+  rete            // If this was a spurious interrupt (R12 == NULL), return from event handler.
+
+_int1:
+  // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the
+  // CPU upon interrupt entry.
+#if 1 // B1832: interrupt stack changed to exception stack if exception is detected.
+  mfsr    r12, AVR32_SR
+  bfextu  r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE
+  cp.w    r12, 0b110
+  brlo    _int1_normal
+  lddsp   r12, sp[0 * 4]
+  stdsp   sp[6 * 4], r12
+  lddsp   r12, sp[1 * 4]
+  stdsp   sp[7 * 4], r12
+  lddsp   r12, sp[3 * 4]
+  sub     sp, -6 * 4
+  rete
+_int1_normal:
+#endif
+  mov     r12, 1  // Pass the int_lev parameter to the _get_interrupt_handler function.
+  call    _get_interrupt_handler
+  cp.w    r12, 0  // Get the pointer to the interrupt handler returned by the function.
+  movne   pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler.
+  rete            // If this was a spurious interrupt (R12 == NULL), return from event handler.
+
+_int2:
+  // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the
+  // CPU upon interrupt entry.
+#if 1 // B1832: interrupt stack changed to exception stack if exception is detected.
+  mfsr    r12, AVR32_SR
+  bfextu  r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE
+  cp.w    r12, 0b110
+  brlo    _int2_normal
+  lddsp   r12, sp[0 * 4]
+  stdsp   sp[6 * 4], r12
+  lddsp   r12, sp[1 * 4]
+  stdsp   sp[7 * 4], r12
+  lddsp   r12, sp[3 * 4]
+  sub     sp, -6 * 4
+  rete
+_int2_normal:
+#endif
+  mov     r12, 2  // Pass the int_lev parameter to the _get_interrupt_handler function.
+  call    _get_interrupt_handler
+  cp.w    r12, 0  // Get the pointer to the interrupt handler returned by the function.
+  movne   pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler.
+  rete            // If this was a spurious interrupt (R12 == NULL), return from event handler.
+
+_int3:
+  // R8-R12, LR, PC and SR are automatically pushed onto the system stack by the
+  // CPU upon interrupt entry.
+#if 1 // B1832: interrupt stack changed to exception stack if exception is detected.
+  mfsr    r12, AVR32_SR
+  bfextu  r12, r12, AVR32_SR_M0_OFFSET, AVR32_SR_M0_SIZE + AVR32_SR_M1_SIZE + AVR32_SR_M2_SIZE
+  cp.w    r12, 0b110
+  brlo    _int3_normal
+  lddsp   r12, sp[0 * 4]
+  stdsp   sp[6 * 4], r12
+  lddsp   r12, sp[1 * 4]
+  stdsp   sp[7 * 4], r12
+  lddsp   r12, sp[3 * 4]
+  sub     sp, -6 * 4
+  rete
+_int3_normal:
+#endif
+  mov     r12, 3  // Pass the int_lev parameter to the _get_interrupt_handler function.
+  call    _get_interrupt_handler
+  cp.w    r12, 0  // Get the pointer to the interrupt handler returned by the function.
+  movne   pc, r12 // If this was not a spurious interrupt (R12 != NULL), jump to the handler.
+  rete            // If this was a spurious interrupt (R12 == NULL), return from event handler.
+
+
+// Constant data area.
+
+  .balign 4
+
+  // Values to store in the interrupt priority registers for the various interrupt priority levels.
+  // The interrupt priority registers contain the interrupt priority level and
+  // the EVBA-relative interrupt vector offset.
+  .global ipr_val
+  .type ipr_val, @object
+ipr_val:
+  .word (INT0 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int0 - _evba),\
+        (INT1 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int1 - _evba),\
+        (INT2 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int2 - _evba),\
+        (INT3 << AVR32_INTC_IPR0_INTLEV_OFFSET) | (_int3 - _evba)
+
+
+//! \endverbatim
+//! @}

portable/GCC/AVR32_UC3/port.c

@@ -0,0 +1,435 @@
+/*This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief FreeRTOS port source for AVR32 UC3.
+ *
+ * - Compiler:           GNU GCC for AVR32
+ * - Supported devices:  All AVR32 devices can be used.
+ * - AppNote:
+ *
+ * \author               Atmel Corporation: http://www.atmel.com \n
+ *                       Support and FAQ: http://support.atmel.no/
+ *
+ *****************************************************************************/
+
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/* Standard includes. */
+#include <sys/cpu.h>
+#include <sys/usart.h>
+#include <malloc.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* AVR32 UC3 includes. */
+#include <avr32/io.h>
+#include "gpio.h"
+#if( configTICK_USE_TC==1 )
+	#include "tc.h"
+#endif
+
+
+/* Constants required to setup the task context. */
+#define portINITIAL_SR            ( ( StackType_t ) 0x00400000 ) /* AVR32 : [M2:M0]=001 I1M=0 I0M=0, GM=0 */
+#define portINSTRUCTION_SIZE      ( ( StackType_t ) 0 )
+
+/* Each task maintains its own critical nesting variable. */
+#define portNO_CRITICAL_NESTING   ( ( uint32_t ) 0 )
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+#if( configTICK_USE_TC==0 )
+	static void prvScheduleNextTick( void );
+#else
+	static void prvClearTcInt( void );
+#endif
+
+/* Setup the timer to generate the tick interrupts. */
+static void prvSetupTimerInterrupt( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Low-level initialization routine called during startup, before the main
+ * function.
+ * This version comes in replacement to the default one provided by Newlib.
+ * Newlib's _init_startup only calls init_exceptions, but Newlib's exception
+ * vectors are not compatible with the SCALL management in the current FreeRTOS
+ * port. More low-level initializations are besides added here.
+ */
+void _init_startup(void)
+{
+	/* Import the Exception Vector Base Address. */
+	extern void _evba;
+
+	#if configHEAP_INIT
+		extern void __heap_start__;
+		extern void __heap_end__;
+		BaseType_t *pxMem;
+	#endif
+
+	/* Load the Exception Vector Base Address in the corresponding system register. */
+	Set_system_register( AVR32_EVBA, ( int ) &_evba );
+
+	/* Enable exceptions. */
+	ENABLE_ALL_EXCEPTIONS();
+
+	/* Initialize interrupt handling. */
+	INTC_init_interrupts();
+
+	#if configHEAP_INIT
+
+		/* Initialize the heap used by malloc. */
+		for( pxMem = &__heap_start__; pxMem < ( BaseType_t * )&__heap_end__; )
+		{
+			*pxMem++ = 0xA5A5A5A5;
+		}
+
+	#endif
+
+	/* Give the used CPU clock frequency to Newlib, so it can work properly. */
+	set_cpu_hz( configCPU_CLOCK_HZ );
+
+	/* Code section present if and only if the debug trace is activated. */
+	#if configDBG
+	{
+		static const gpio_map_t DBG_USART_GPIO_MAP =
+		{
+			{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
+			{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
+		};
+
+		/* Initialize the USART used for the debug trace with the configured parameters. */
+		set_usart_base( ( void * ) configDBG_USART );
+		gpio_enable_module( DBG_USART_GPIO_MAP,
+		                    sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
+		usart_init( configDBG_USART_BAUDRATE );
+	}
+	#endif
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * malloc, realloc and free are meant to be called through respectively
+ * pvPortMalloc, pvPortRealloc and vPortFree.
+ * The latter functions call the former ones from within sections where tasks
+ * are suspended, so the latter functions are task-safe. __malloc_lock and
+ * __malloc_unlock use the same mechanism to also keep the former functions
+ * task-safe as they may be called directly from Newlib's functions.
+ * However, all these functions are interrupt-unsafe and SHALL THEREFORE NOT BE
+ * CALLED FROM WITHIN AN INTERRUPT, because __malloc_lock and __malloc_unlock do
+ * not call portENTER_CRITICAL and portEXIT_CRITICAL in order not to disable
+ * interrupts during memory allocation management as this may be a very time-
+ * consuming process.
+ */
+
+/*
+ * Lock routine called by Newlib on malloc / realloc / free entry to guarantee a
+ * safe section as memory allocation management uses global data.
+ * See the aforementioned details.
+ */
+void __malloc_lock(struct _reent *ptr)
+{
+	vTaskSuspendAll();
+}
+
+/*
+ * Unlock routine called by Newlib on malloc / realloc / free exit to guarantee
+ * a safe section as memory allocation management uses global data.
+ * See the aforementioned details.
+ */
+void __malloc_unlock(struct _reent *ptr)
+{
+	xTaskResumeAll();
+}
+/*-----------------------------------------------------------*/
+
+/* Added as there is no such function in FreeRTOS. */
+void *pvPortRealloc( void *pv, size_t xWantedSize )
+{
+void *pvReturn;
+
+	vTaskSuspendAll();
+	{
+		pvReturn = realloc( pv, xWantedSize );
+	}
+	xTaskResumeAll();
+
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+/* The cooperative scheduler requires a normal IRQ service routine to
+simply increment the system tick. */
+/* The preemptive scheduler is defined as "naked" as the full context is saved
+on entry as part of the context switch. */
+__attribute__((__naked__)) static void vTick( void )
+{
+	/* Save the context of the interrupted task. */
+	portSAVE_CONTEXT_OS_INT();
+
+	#if( configTICK_USE_TC==1 )
+		/* Clear the interrupt flag. */
+		prvClearTcInt();
+	#else
+		/* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ)
+		clock cycles from now. */
+		prvScheduleNextTick();
+	#endif
+
+	/* Because FreeRTOS is not supposed to run with nested interrupts, put all OS
+	calls in a critical section . */
+	portENTER_CRITICAL();
+		xTaskIncrementTick();
+	portEXIT_CRITICAL();
+
+	/* Restore the context of the "elected task". */
+	portRESTORE_CONTEXT_OS_INT();
+}
+/*-----------------------------------------------------------*/
+
+__attribute__((__naked__)) void SCALLYield( void )
+{
+	/* Save the context of the interrupted task. */
+	portSAVE_CONTEXT_SCALL();
+	vTaskSwitchContext();
+	portRESTORE_CONTEXT_SCALL();
+}
+/*-----------------------------------------------------------*/
+
+/* The code generated by the GCC compiler uses the stack in different ways at
+different optimisation levels.  The interrupt flags can therefore not always
+be saved to the stack.  Instead the critical section nesting level is stored
+in a variable, which is then saved as part of the stack context. */
+__attribute__((__noinline__)) void vPortEnterCritical( void )
+{
+	/* Disable interrupts */
+	portDISABLE_INTERRUPTS();
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	 directly.  Increment ulCriticalNesting to keep a count of how many times
+	 portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+/*-----------------------------------------------------------*/
+
+__attribute__((__noinline__)) void vPortExitCritical( void )
+{
+	if(ulCriticalNesting > portNO_CRITICAL_NESTING)
+	{
+		ulCriticalNesting--;
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Enable all interrupt/exception. */
+			portENABLE_INTERRUPTS();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Initialise the stack of a task to look exactly as if a call to
+ * portSAVE_CONTEXT had been called.
+ *
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Setup the initial stack of the task.  The stack is set exactly as
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* When the task starts, it will expect to find the function parameter in R12. */
+	pxTopOfStack--;
+	*pxTopOfStack-- = ( StackType_t ) 0x08080808;					/* R8 */
+	*pxTopOfStack-- = ( StackType_t ) 0x09090909;					/* R9 */
+	*pxTopOfStack-- = ( StackType_t ) 0x0A0A0A0A;					/* R10 */
+	*pxTopOfStack-- = ( StackType_t ) 0x0B0B0B0B;					/* R11 */
+	*pxTopOfStack-- = ( StackType_t ) pvParameters;					/* R12 */
+	*pxTopOfStack-- = ( StackType_t ) 0xDEADBEEF;					/* R14/LR */
+	*pxTopOfStack-- = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; /* R15/PC */
+	*pxTopOfStack-- = ( StackType_t ) portINITIAL_SR;				/* SR */
+	*pxTopOfStack-- = ( StackType_t ) 0xFF0000FF;					/* R0 */
+	*pxTopOfStack-- = ( StackType_t ) 0x01010101;					/* R1 */
+	*pxTopOfStack-- = ( StackType_t ) 0x02020202;					/* R2 */
+	*pxTopOfStack-- = ( StackType_t ) 0x03030303;					/* R3 */
+	*pxTopOfStack-- = ( StackType_t ) 0x04040404;					/* R4 */
+	*pxTopOfStack-- = ( StackType_t ) 0x05050505;					/* R5 */
+	*pxTopOfStack-- = ( StackType_t ) 0x06060606;					/* R6 */
+	*pxTopOfStack-- = ( StackType_t ) 0x07070707;					/* R7 */
+	*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING;			/* ulCriticalNesting */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	prvSetupTimerInterrupt();
+
+	/* Start the first task. */
+	portRESTORE_CONTEXT();
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the AVR32 port will require this function as there
+	is nothing to return to.  */
+}
+/*-----------------------------------------------------------*/
+
+/* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ)
+clock cycles from now. */
+#if( configTICK_USE_TC==0 )
+	static void prvScheduleFirstTick(void)
+	{
+		uint32_t lCycles;
+
+		lCycles = Get_system_register(AVR32_COUNT);
+		lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
+		// If lCycles ends up to be 0, make it 1 so that the COMPARE and exception
+		// generation feature does not get disabled.
+		if(0 == lCycles)
+		{
+			lCycles++;
+		}
+		Set_system_register(AVR32_COMPARE, lCycles);
+	}
+	
+	__attribute__((__noinline__)) static void prvScheduleNextTick(void)
+	{
+		uint32_t lCycles, lCount;
+
+		lCycles = Get_system_register(AVR32_COMPARE);
+		lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
+		// If lCycles ends up to be 0, make it 1 so that the COMPARE and exception
+		// generation feature does not get disabled.
+		if(0 == lCycles)
+		{
+			lCycles++;
+		}
+		lCount = Get_system_register(AVR32_COUNT);
+		if( lCycles < lCount )
+		{		// We missed a tick, recover for the next.
+			lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
+		}
+		Set_system_register(AVR32_COMPARE, lCycles);
+	}
+#else
+	__attribute__((__noinline__)) static void prvClearTcInt(void)
+	{
+		AVR32_TC.channel[configTICK_TC_CHANNEL].sr;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
+/* Setup the timer to generate the tick interrupts. */
+static void prvSetupTimerInterrupt(void)
+{
+#if( configTICK_USE_TC==1 )
+
+	volatile avr32_tc_t *tc = &AVR32_TC;
+
+	// Options for waveform genration.
+	tc_waveform_opt_t waveform_opt =
+	{
+	.channel  = configTICK_TC_CHANNEL,             /* Channel selection. */
+
+	.bswtrg   = TC_EVT_EFFECT_NOOP,                /* Software trigger effect on TIOB. */
+	.beevt    = TC_EVT_EFFECT_NOOP,                /* External event effect on TIOB. */
+	.bcpc     = TC_EVT_EFFECT_NOOP,                /* RC compare effect on TIOB. */
+	.bcpb     = TC_EVT_EFFECT_NOOP,                /* RB compare effect on TIOB. */
+
+	.aswtrg   = TC_EVT_EFFECT_NOOP,                /* Software trigger effect on TIOA. */
+	.aeevt    = TC_EVT_EFFECT_NOOP,                /* External event effect on TIOA. */
+	.acpc     = TC_EVT_EFFECT_NOOP,                /* RC compare effect on TIOA: toggle. */
+	.acpa     = TC_EVT_EFFECT_NOOP,                /* RA compare effect on TIOA: toggle (other possibilities are none, set and clear). */
+
+	.wavsel   = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,/* Waveform selection: Up mode without automatic trigger on RC compare. */
+	.enetrg   = FALSE,                             /* External event trigger enable. */
+	.eevt     = 0,                                 /* External event selection. */
+	.eevtedg  = TC_SEL_NO_EDGE,                    /* External event edge selection. */
+	.cpcdis   = FALSE,                             /* Counter disable when RC compare. */
+	.cpcstop  = FALSE,                             /* Counter clock stopped with RC compare. */
+
+	.burst    = FALSE,                             /* Burst signal selection. */
+	.clki     = FALSE,                             /* Clock inversion. */
+	.tcclks   = TC_CLOCK_SOURCE_TC2                /* Internal source clock 2. */
+	};
+
+	tc_interrupt_t tc_interrupt =
+	{
+		.etrgs=0,
+		.ldrbs=0,
+		.ldras=0,
+		.cpcs =1,
+		.cpbs =0,
+		.cpas =0,
+		.lovrs=0,
+		.covfs=0,
+	};
+
+#endif
+
+	/* Disable all interrupt/exception. */
+	portDISABLE_INTERRUPTS();
+
+	/* Register the compare interrupt handler to the interrupt controller and
+	enable the compare interrupt. */
+
+	#if( configTICK_USE_TC==1 )
+	{
+		INTC_register_interrupt(&vTick, configTICK_TC_IRQ, INT0);
+
+		/* Initialize the timer/counter. */
+		tc_init_waveform(tc, &waveform_opt);
+
+		/* Set the compare triggers.
+		Remember TC counter is 16-bits, so counting second is not possible!
+		That's why we configure it to count ms. */
+		tc_write_rc( tc, configTICK_TC_CHANNEL, ( configPBA_CLOCK_HZ / 4) / configTICK_RATE_HZ );
+
+		tc_configure_interrupts( tc, configTICK_TC_CHANNEL, &tc_interrupt );
+
+		/* Start the timer/counter. */
+		tc_start(tc, configTICK_TC_CHANNEL);
+	}
+	#else
+	{
+		INTC_register_interrupt(&vTick, AVR32_CORE_COMPARE_IRQ, INT0);
+		prvScheduleFirstTick();
+	}
+	#endif
+}

portable/GCC/AVR32_UC3/portmacro.h

@@ -0,0 +1,667 @@
+/*This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief FreeRTOS port source for AVR32 UC3.
+ *
+ * - Compiler:           GNU GCC for AVR32
+ * - Supported devices:  All AVR32 devices can be used.
+ * - AppNote:
+ *
+ * \author               Atmel Corporation: http://www.atmel.com \n
+ *                       Support and FAQ: http://support.atmel.no/
+ *
+ *****************************************************************************/
+
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+#include <avr32/io.h>
+#include "intc.h"
+#include "compiler.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Type definitions. */
+#define portCHAR        char
+#define portFLOAT       float
+#define portDOUBLE      double
+#define portLONG        long
+#define portSHORT       short
+#define portSTACK_TYPE  uint32_t
+#define portBASE_TYPE   long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#define TASK_DELAY_MS(x)   ( (x)        /portTICK_PERIOD_MS )
+#define TASK_DELAY_S(x)    ( (x)*1000   /portTICK_PERIOD_MS )
+#define TASK_DELAY_MIN(x)  ( (x)*60*1000/portTICK_PERIOD_MS )
+
+#define configTICK_TC_IRQ             ATPASTE2(AVR32_TC_IRQ, configTICK_TC_CHANNEL)
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH      ( -1 )
+#define portTICK_PERIOD_MS      ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT    4
+#define portNOP()             {__asm__ __volatile__ ("nop");}
+/*-----------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------*/
+
+/* INTC-specific. */
+#define DISABLE_ALL_EXCEPTIONS()    Disable_global_exception()
+#define ENABLE_ALL_EXCEPTIONS()     Enable_global_exception()
+
+#define DISABLE_ALL_INTERRUPTS()    Disable_global_interrupt()
+#define ENABLE_ALL_INTERRUPTS()     Enable_global_interrupt()
+
+#define DISABLE_INT_LEVEL(int_lev)  Disable_interrupt_level(int_lev)
+#define ENABLE_INT_LEVEL(int_lev)   Enable_interrupt_level(int_lev)
+
+
+/*
+ * Debug trace.
+ * Activated if and only if configDBG is nonzero.
+ * Prints a formatted string to stdout.
+ * The current source file name and line number are output with a colon before
+ * the formatted string.
+ * A carriage return and a linefeed are appended to the output.
+ * stdout is redirected to the USART configured by configDBG_USART.
+ * The parameters are the same as for the standard printf function.
+ * There is no return value.
+ * SHALL NOT BE CALLED FROM WITHIN AN INTERRUPT as fputs and printf use malloc,
+ * which is interrupt-unsafe with the current __malloc_lock and __malloc_unlock.
+ */
+#if configDBG
+#define portDBG_TRACE(...) \
+{\
+  fputs(__FILE__ ":" ASTRINGZ(__LINE__) ": ", stdout);\
+  printf(__VA_ARGS__);\
+  fputs("\r\n", stdout);\
+}
+#else
+#define portDBG_TRACE(...)
+#endif
+
+
+/* Critical section management. */
+#define portDISABLE_INTERRUPTS()  DISABLE_ALL_INTERRUPTS()
+#define portENABLE_INTERRUPTS()   ENABLE_ALL_INTERRUPTS()
+
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+
+#define portENTER_CRITICAL()      vPortEnterCritical();
+#define portEXIT_CRITICAL()       vPortExitCritical();
+
+
+/* Added as there is no such function in FreeRTOS. */
+extern void *pvPortRealloc( void *pv, size_t xSize );
+/*-----------------------------------------------------------*/
+
+
+/*=============================================================================================*/
+
+/*
+ * Restore Context for cases other than INTi.
+ */
+#define portRESTORE_CONTEXT()															\
+{																						\
+  extern volatile uint32_t ulCriticalNesting;									\
+  extern volatile void *volatile pxCurrentTCB;											\
+																						\
+  __asm__ __volatile__ (																\
+    /* Set SP to point to new stack */													\
+    "mov     r8, LO(%[pxCurrentTCB])													\n\t"\
+    "orh     r8, HI(%[pxCurrentTCB])													\n\t"\
+    "ld.w    r0, r8[0]																	\n\t"\
+    "ld.w    sp, r0[0]																	\n\t"\
+																						\
+    /* Restore ulCriticalNesting variable */											\
+    "ld.w    r0, sp++																	\n\t"\
+    "mov     r8, LO(%[ulCriticalNesting])												\n\t"\
+    "orh     r8, HI(%[ulCriticalNesting])												\n\t"\
+    "st.w    r8[0], r0																	\n\t"\
+																						\
+    /* Restore R0..R7 */																\
+    "ldm     sp++, r0-r7																\n\t"\
+    /* R0-R7 should not be used below this line */										\
+    /* Skip PC and SR (will do it at the end) */										\
+    "sub     sp, -2*4																	\n\t"\
+    /* Restore R8..R12 and LR */														\
+    "ldm     sp++, r8-r12, lr															\n\t"\
+    /* Restore SR */																	\
+    "ld.w    r0, sp[-8*4]\n\t" /* R0 is modified, is restored later. */					\
+    "mtsr    %[SR], r0																	\n\t"\
+    /* Restore r0 */																	\
+    "ld.w    r0, sp[-9*4]																\n\t"\
+    /* Restore PC */																	\
+    "ld.w    pc, sp[-7*4]" /* Get PC from stack - PC is the 7th register saved */		\
+    :																					\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting),										\
+      [pxCurrentTCB] "i" (&pxCurrentTCB),												\
+      [SR] "i" (AVR32_SR)																\
+  );																					\
+}
+
+
+/*
+ * portSAVE_CONTEXT_INT() and portRESTORE_CONTEXT_INT(): for INT0..3 exceptions.
+ * portSAVE_CONTEXT_SCALL() and portRESTORE_CONTEXT_SCALL(): for the scall exception.
+ *
+ * Had to make different versions because registers saved on the system stack
+ * are not the same between INT0..3 exceptions and the scall exception.
+ */
+
+// Task context stack layout:
+  // R8  (*)
+  // R9  (*)
+  // R10 (*)
+  // R11 (*)
+  // R12 (*)
+  // R14/LR (*)
+  // R15/PC (*)
+  // SR (*)
+  // R0
+  // R1
+  // R2
+  // R3
+  // R4
+  // R5
+  // R6
+  // R7
+  // ulCriticalNesting
+// (*) automatically done for INT0..INT3, but not for SCALL
+
+/*
+ * The ISR used for the scheduler tick depends on whether the cooperative or
+ * the preemptive scheduler is being used.
+ */
+#if configUSE_PREEMPTION == 0
+
+/*
+ * portSAVE_CONTEXT_OS_INT() for OS Tick exception.
+ */
+#define portSAVE_CONTEXT_OS_INT()														\
+{																						\
+  /* Save R0..R7 */																		\
+  __asm__ __volatile__ ("stm     --sp, r0-r7");											\
+																						\
+  /* With the cooperative scheduler, as there is no context switch by interrupt, */		\
+  /* there is also no context save. */													\
+}
+
+/*
+ * portRESTORE_CONTEXT_OS_INT() for Tick exception.
+ */
+#define portRESTORE_CONTEXT_OS_INT()													\
+{																						\
+  __asm__ __volatile__ (																\
+    /* Restore R0..R7 */																\
+    "ldm     sp++, r0-r7\n\t"															\
+																						\
+    /* With the cooperative scheduler, as there is no context switch by interrupt, */	\
+    /* there is also no context restore. */												\
+    "rete"																				\
+  );																					\
+}
+
+#else
+
+/*
+ * portSAVE_CONTEXT_OS_INT() for OS Tick exception.
+ */
+#define portSAVE_CONTEXT_OS_INT()																	\
+{																									\
+  extern volatile uint32_t ulCriticalNesting;												\
+  extern volatile void *volatile pxCurrentTCB;														\
+																									\
+  /* When we come here */																			\
+  /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */					\
+																									\
+  __asm__ __volatile__ (																			\
+    /* Save R0..R7 */																				\
+    "stm     --sp, r0-r7																			\n\t"\
+																									\
+    /* Save ulCriticalNesting variable  - R0 is overwritten */										\
+    "mov     r8, LO(%[ulCriticalNesting])\n\t"														\
+    "orh     r8, HI(%[ulCriticalNesting])\n\t"														\
+    "ld.w    r0, r8[0]																				\n\t"\
+    "st.w    --sp, r0																				\n\t"\
+																									\
+    /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */	\
+    /* interrupt handler (which was of a higher priority level but decided to lower its priority */	\
+    /* level and allow other lower interrupt level to occur). */									\
+    /* In this case we don't want to do a task switch because we don't know what the stack */		\
+    /* currently looks like (we don't know what the interrupted interrupt handler was doing). */	\
+    /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */		\
+    /* will just be restoring the interrupt handler, no way!!! */									\
+    /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */					\
+    "ld.w    r0, sp[9*4]\n\t" /* Read SR in stack */												\
+    "bfextu  r0, r0, 22, 3\n\t" /* Extract the mode bits to R0. */									\
+    "cp.w    r0, 1\n\t" /* Compare the mode bits with supervisor mode(b'001) */						\
+    "brhi    LABEL_INT_SKIP_SAVE_CONTEXT_%[LINE]													\n\t"\
+																									\
+    /* Store SP in the first member of the structure pointed to by pxCurrentTCB */					\
+    /* NOTE: we don't enter a critical section here because all interrupt handlers */				\
+    /* MUST perform a SAVE_CONTEXT/RESTORE_CONTEXT in the same way as */							\
+    /* portSAVE_CONTEXT_OS_INT/port_RESTORE_CONTEXT_OS_INT if they call OS functions. */			\
+    /* => all interrupt handlers must use portENTER_SWITCHING_ISR/portEXIT_SWITCHING_ISR. */		\
+    "mov     r8, LO(%[pxCurrentTCB])\n\t"															\
+    "orh     r8, HI(%[pxCurrentTCB])\n\t"															\
+    "ld.w    r0, r8[0]\n\t"																			\
+    "st.w    r0[0], sp\n"																			\
+																									\
+    "LABEL_INT_SKIP_SAVE_CONTEXT_%[LINE]:"															\
+    :																								\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting),													\
+      [pxCurrentTCB] "i" (&pxCurrentTCB),															\
+      [LINE] "i" (__LINE__)																			\
+  );																								\
+}
+
+/*
+ * portRESTORE_CONTEXT_OS_INT() for Tick exception.
+ */
+#define portRESTORE_CONTEXT_OS_INT()																\
+{																									\
+  extern volatile uint32_t ulCriticalNesting;												\
+  extern volatile void *volatile pxCurrentTCB;														\
+																									\
+  /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */		\
+  /* interrupt handler (which was of a higher priority level but decided to lower its priority */	\
+  /* level and allow other lower interrupt level to occur). */										\
+  /* In this case we don't want to do a task switch because we don't know what the stack */			\
+  /* currently looks like (we don't know what the interrupted interrupt handler was doing). */		\
+  /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */			\
+  /* will just be restoring the interrupt handler, no way!!! */										\
+  __asm__ __volatile__ (																			\
+    "ld.w    r0, sp[9*4]\n\t" /* Read SR in stack */												\
+    "bfextu  r0, r0, 22, 3\n\t" /* Extract the mode bits to R0. */									\
+    "cp.w    r0, 1\n\t" /* Compare the mode bits with supervisor mode(b'001) */						\
+    "brhi    LABEL_INT_SKIP_RESTORE_CONTEXT_%[LINE]"												\
+    :																								\
+    : [LINE] "i" (__LINE__)																			\
+  );																								\
+																									\
+  /* Else */																						\
+  /* because it is here safe, always call vTaskSwitchContext() since an OS tick occurred. */		\
+  /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */\
+  portENTER_CRITICAL();																				\
+  vTaskSwitchContext();																				\
+  portEXIT_CRITICAL();																				\
+																									\
+  /* Restore all registers */																		\
+																									\
+  __asm__ __volatile__ (																			\
+    /* Set SP to point to new stack */																\
+    "mov     r8, LO(%[pxCurrentTCB])																\n\t"\
+    "orh     r8, HI(%[pxCurrentTCB])																\n\t"\
+    "ld.w    r0, r8[0]																				\n\t"\
+    "ld.w    sp, r0[0]																				\n"\
+																									\
+    "LABEL_INT_SKIP_RESTORE_CONTEXT_%[LINE]:														\n\t"\
+																									\
+    /* Restore ulCriticalNesting variable */														\
+    "ld.w    r0, sp++																				\n\t"																			\
+    "mov     r8, LO(%[ulCriticalNesting])															\n\t"\
+    "orh     r8, HI(%[ulCriticalNesting])															\n\t"\
+    "st.w    r8[0], r0																				\n\t"\
+																									\
+    /* Restore R0..R7 */																			\
+    "ldm     sp++, r0-r7																			\n\t"\
+																									\
+    /* Now, the stack should be R8..R12, LR, PC and SR */											\
+    "rete"																							\
+    :																								\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting),													\
+      [pxCurrentTCB] "i" (&pxCurrentTCB),															\
+      [LINE] "i" (__LINE__)																			\
+  );																								\
+}
+
+#endif
+
+
+/*
+ * portSAVE_CONTEXT_SCALL() for SupervisorCALL exception.
+ *
+ * NOTE: taskYIELD()(== SCALL) MUST NOT be called in a mode > supervisor mode.
+ *
+ */
+#define portSAVE_CONTEXT_SCALL()															\
+{																							\
+  extern volatile uint32_t ulCriticalNesting;										\
+  extern volatile void *volatile pxCurrentTCB;												\
+																							\
+  /* Warning: the stack layout after SCALL doesn't match the one after an interrupt. */		\
+  /* If SR[M2:M0] == 001 */																	\
+  /*    PC and SR are on the stack.  */														\
+  /* Else (other modes) */																	\
+  /*    Nothing on the stack. */															\
+																							\
+  /* WARNING NOTE: the else case cannot happen as it is strictly forbidden to call */		\
+  /* vTaskDelay() and vTaskDelayUntil() OS functions (that result in a taskYield()) */		\
+  /* in an interrupt|exception handler. */													\
+																							\
+  __asm__ __volatile__ (																	\
+    /* in order to save R0-R7 */															\
+    "sub     sp, 6*4																		\n\t"\
+    /* Save R0..R7 */																		\
+    "stm     --sp, r0-r7																	\n\t"\
+																							\
+    /* in order to save R8-R12 and LR */													\
+    /* do not use SP if interrupts occurs, SP must be left at bottom of stack */			\
+    "sub     r7, sp,-16*4																	\n\t"\
+    /* Copy PC and SR in other places in the stack. */										\
+    "ld.w    r0, r7[-2*4]																	\n\t" /* Read SR */\
+    "st.w    r7[-8*4], r0																	\n\t" /* Copy SR */\
+    "ld.w    r0, r7[-1*4]																	\n\t" /* Read PC */\
+    "st.w    r7[-7*4], r0																	\n\t" /* Copy PC */\
+																							\
+    /* Save R8..R12 and LR on the stack. */													\
+    "stm     --r7, r8-r12, lr																\n\t"\
+																							\
+    /* Arriving here we have the following stack organizations: */							\
+    /* R8..R12, LR, PC, SR, R0..R7. */														\
+																							\
+    /* Now we can finalize the save. */														\
+																							\
+    /* Save ulCriticalNesting variable  - R0 is overwritten */								\
+    "mov     r8, LO(%[ulCriticalNesting])													\n\t"\
+    "orh     r8, HI(%[ulCriticalNesting])													\n\t"\
+    "ld.w    r0, r8[0]																		\n\t"\
+    "st.w    --sp, r0"																		\
+    :																						\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting)											\
+  );																						\
+																							\
+  /* Disable the its which may cause a context switch (i.e. cause a change of */			\
+  /* pxCurrentTCB). */																		\
+  /* Basically, all accesses to the pxCurrentTCB structure should be put in a */			\
+  /* critical section because it is a global structure. */									\
+  portENTER_CRITICAL();																		\
+																							\
+  /* Store SP in the first member of the structure pointed to by pxCurrentTCB */			\
+  __asm__ __volatile__ (																	\
+    "mov     r8, LO(%[pxCurrentTCB])														\n\t"\
+    "orh     r8, HI(%[pxCurrentTCB])														\n\t"\
+    "ld.w    r0, r8[0]																		\n\t"\
+    "st.w    r0[0], sp"																		\
+    :																						\
+    : [pxCurrentTCB] "i" (&pxCurrentTCB)													\
+  );																						\
+}
+
+/*
+ * portRESTORE_CONTEXT() for SupervisorCALL exception.
+ */
+#define portRESTORE_CONTEXT_SCALL()															\
+{																							\
+  extern volatile uint32_t ulCriticalNesting;										\
+  extern volatile void *volatile pxCurrentTCB;												\
+																							\
+  /* Restore all registers */																\
+																							\
+  /* Set SP to point to new stack */														\
+  __asm__ __volatile__ (																	\
+    "mov     r8, LO(%[pxCurrentTCB])														\n\t"\
+    "orh     r8, HI(%[pxCurrentTCB])														\n\t"\
+    "ld.w    r0, r8[0]																		\n\t"\
+    "ld.w    sp, r0[0]"																		\
+    :																						\
+    : [pxCurrentTCB] "i" (&pxCurrentTCB)													\
+  );																						\
+																							\
+  /* Leave pxCurrentTCB variable access critical section */									\
+  portEXIT_CRITICAL();																		\
+																							\
+  __asm__ __volatile__ (																	\
+    /* Restore ulCriticalNesting variable */												\
+    "ld.w    r0, sp++																		\n\t"\
+    "mov     r8, LO(%[ulCriticalNesting])													\n\t"\
+    "orh     r8, HI(%[ulCriticalNesting])													\n\t"\
+    "st.w    r8[0], r0																		\n\t"\
+																							\
+    /* skip PC and SR */																	\
+    /* do not use SP if interrupts occurs, SP must be left at bottom of stack */			\
+    "sub     r7, sp, -10*4																	\n\t"\
+    /* Restore r8-r12 and LR */																\
+    "ldm     r7++, r8-r12, lr																\n\t"\
+																							\
+    /* RETS will take care of the extra PC and SR restore. */								\
+    /* So, we have to prepare the stack for this. */										\
+    "ld.w    r0, r7[-8*4]																	\n\t" /* Read SR */\
+    "st.w    r7[-2*4], r0																	\n\t" /* Copy SR */\
+    "ld.w    r0, r7[-7*4]																	\n\t" /* Read PC */\
+    "st.w    r7[-1*4], r0																	\n\t" /* Copy PC */\
+																							\
+    /* Restore R0..R7 */																	\
+    "ldm     sp++, r0-r7																	\n\t"\
+																							\
+    "sub     sp, -6*4																		\n\t"\
+																							\
+    "rets"																					\
+    :																						\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting)											\
+  );																						\
+}
+
+
+/*
+ * The ISR used depends on whether the cooperative or
+ * the preemptive scheduler is being used.
+ */
+#if configUSE_PREEMPTION == 0
+
+/*
+ * ISR entry and exit macros.  These are only required if a task switch
+ * is required from the ISR.
+ */
+#define portENTER_SWITCHING_ISR()															\
+{																							\
+  /* Save R0..R7 */																			\
+  __asm__ __volatile__ ("stm     --sp, r0-r7");												\
+																							\
+  /* With the cooperative scheduler, as there is no context switch by interrupt, */			\
+  /* there is also no context save. */														\
+}
+
+/*
+ * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1
+ */
+#define portEXIT_SWITCHING_ISR()															\
+{																							\
+  __asm__ __volatile__ (																	\
+    /* Restore R0..R7 */																	\
+    "ldm     sp++, r0-r7																	\n\t"\
+																							\
+    /* With the cooperative scheduler, as there is no context switch by interrupt, */		\
+    /* there is also no context restore. */													\
+    "rete"																					\
+  );																						\
+}
+
+#else
+
+/*
+ * ISR entry and exit macros.  These are only required if a task switch
+ * is required from the ISR.
+ */
+#define portENTER_SWITCHING_ISR()															\
+{																							\
+  extern volatile uint32_t ulCriticalNesting;										\
+  extern volatile void *volatile pxCurrentTCB;												\
+																							\
+  /* When we come here */																	\
+  /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */			\
+																							\
+  __asm__ __volatile__ (																	\
+    /* Save R0..R7 */																		\
+    "stm     --sp, r0-r7																	\n\t"\
+																							\
+    /* Save ulCriticalNesting variable  - R0 is overwritten */								\
+    "mov     r8, LO(%[ulCriticalNesting])													\n\t"\
+    "orh     r8, HI(%[ulCriticalNesting])													\n\t"\
+    "ld.w    r0, r8[0]																		\n\t"\
+    "st.w    --sp, r0																		\n\t"\
+																									\
+    /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */	\
+    /* interrupt handler (which was of a higher priority level but decided to lower its priority */	\
+    /* level and allow other lower interrupt level to occur). */									\
+    /* In this case we don't want to do a task switch because we don't know what the stack */		\
+    /* currently looks like (we don't know what the interrupted interrupt handler was doing). */	\
+    /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */		\
+    /* will just be restoring the interrupt handler, no way!!! */									\
+    /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */					\
+    "ld.w    r0, sp[9*4]																	\n\t" /* Read SR in stack */\
+    "bfextu  r0, r0, 22, 3																	\n\t" /* Extract the mode bits to R0. */\
+    "cp.w    r0, 1																			\n\t" /* Compare the mode bits with supervisor mode(b'001) */\
+    "brhi    LABEL_ISR_SKIP_SAVE_CONTEXT_%[LINE]											\n\t"\
+																							\
+    /* Store SP in the first member of the structure pointed to by pxCurrentTCB */			\
+    "mov     r8, LO(%[pxCurrentTCB])														\n\t"\
+    "orh     r8, HI(%[pxCurrentTCB])														\n\t"\
+    "ld.w    r0, r8[0]																		\n\t"\
+    "st.w    r0[0], sp																		\n"\
+																							\
+    "LABEL_ISR_SKIP_SAVE_CONTEXT_%[LINE]:"													\
+    :																						\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting),											\
+      [pxCurrentTCB] "i" (&pxCurrentTCB),													\
+      [LINE] "i" (__LINE__)																	\
+  );																						\
+}
+
+/*
+ * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1
+ */
+#define portEXIT_SWITCHING_ISR()															\
+{																							\
+  extern volatile uint32_t ulCriticalNesting;										\
+  extern volatile void *volatile pxCurrentTCB;												\
+																							\
+  __asm__ __volatile__ (																	\
+    /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */		\
+    /* interrupt handler (which was of a higher priority level but decided to lower its priority */		\
+    /* level and allow other lower interrupt level to occur). */										\
+    /* In this case it's of no use to switch context and restore a new SP because we purposedly */		\
+    /* did not previously save SP in its TCB. */																				\
+    "ld.w    r0, sp[9*4]																	\n\t" /* Read SR in stack */\
+    "bfextu  r0, r0, 22, 3																	\n\t" /* Extract the mode bits to R0. */\
+    "cp.w    r0, 1																			\n\t" /* Compare the mode bits with supervisor mode(b'001) */\
+    "brhi    LABEL_ISR_SKIP_RESTORE_CONTEXT_%[LINE]											\n\t"\
+																							\
+    /* If a switch is required then we just need to call */									\
+    /* vTaskSwitchContext() as the context has already been */								\
+    /* saved. */																			\
+    "cp.w    r12, 1																			\n\t" /* Check if Switch context is required. */\
+    "brne    LABEL_ISR_RESTORE_CONTEXT_%[LINE]"												\
+    :																						\
+    : [LINE] "i" (__LINE__)																	\
+  );																						\
+																							\
+  /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */	\
+  portENTER_CRITICAL();																		\
+  vTaskSwitchContext();																		\
+  portEXIT_CRITICAL();																		\
+																							\
+  __asm__ __volatile__ (																	\
+    "LABEL_ISR_RESTORE_CONTEXT_%[LINE]:														\n\t"\
+    /* Restore the context of which ever task is now the highest */							\
+    /* priority that is ready to run. */													\
+																							\
+    /* Restore all registers */																\
+																							\
+    /* Set SP to point to new stack */														\
+    "mov     r8, LO(%[pxCurrentTCB])														\n\t"\
+    "orh     r8, HI(%[pxCurrentTCB])														\n\t"\
+    "ld.w    r0, r8[0]																		\n\t"\
+    "ld.w    sp, r0[0]																		\n"\
+																							\
+    "LABEL_ISR_SKIP_RESTORE_CONTEXT_%[LINE]:												\n\t"\
+																							\
+    /* Restore ulCriticalNesting variable */												\
+    "ld.w    r0, sp++																		\n\t"\
+    "mov     r8, LO(%[ulCriticalNesting])													\n\t"\
+    "orh     r8, HI(%[ulCriticalNesting])													\n\t"\
+    "st.w    r8[0], r0																		\n\t"\
+																							\
+    /* Restore R0..R7 */																	\
+    "ldm     sp++, r0-r7																	\n\t"\
+																							\
+    /* Now, the stack should be R8..R12, LR, PC and SR  */									\
+    "rete"																					\
+    :																						\
+    : [ulCriticalNesting] "i" (&ulCriticalNesting),											\
+      [pxCurrentTCB] "i" (&pxCurrentTCB),													\
+      [LINE] "i" (__LINE__)																	\
+  );																						\
+}
+
+#endif
+
+
+#define portYIELD()                 {__asm__ __volatile__ ("scall");}
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

portable/GCC/CORTUS_APS3/port.c

@@ -0,0 +1,145 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Machine includes */
+#include <machine/counter.h>
+#include <machine/ic.h>
+/*-----------------------------------------------------------*/
+
+/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */
+#define portINITIAL_PSR			( 0x00020000 )
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Perform any hardware configuration necessary to generate the tick interrupt.
+ */
+static void prvSetupTimerInterrupt( void );
+/*-----------------------------------------------------------*/
+
+StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* Make space on the stack for the context - this leaves a couple of spaces
+	empty.  */
+	pxTopOfStack -= 20;
+
+	/* Fill the registers with known values to assist debugging. */
+	pxTopOfStack[ 16 ] = 0;
+	pxTopOfStack[ 15 ] = portINITIAL_PSR;
+	pxTopOfStack[ 14 ] = ( uint32_t ) pxCode;
+	pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */
+	pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */
+	pxTopOfStack[ 11 ] = 0x0d0d0d0dUL;
+	pxTopOfStack[ 10 ] = 0x0c0c0c0cUL;
+	pxTopOfStack[ 9 ] = 0x0b0b0b0bUL;
+	pxTopOfStack[ 8 ] = 0x0a0a0a0aUL;
+	pxTopOfStack[ 7 ] = 0x09090909UL;
+	pxTopOfStack[ 6 ] = 0x08080808UL;
+	pxTopOfStack[ 5 ] = 0x07070707UL;
+	pxTopOfStack[ 4 ] = 0x06060606UL;
+	pxTopOfStack[ 3 ] = 0x05050505UL;
+	pxTopOfStack[ 2 ] = 0x04040404UL;
+	pxTopOfStack[ 1 ] = 0x03030303UL;
+	pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Set-up the timer interrupt. */
+	prvSetupTimerInterrupt();
+
+	/* Integrated Interrupt Controller: Enable all interrupts. */
+	ic->ien = 1;
+
+	/* Restore callee saved registers. */
+	portRESTORE_CONTEXT();
+
+	/* Should not get here. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupTimerInterrupt( void )
+{
+	/* Enable timer interrupts */
+	counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1;
+	counter1->value = counter1->reload;
+	counter1->mask = 1;
+
+	/* Set the IRQ Handler priority and enable it. */
+	irq[ IRQ_COUNTER1 ].ien = 1;
+}
+/*-----------------------------------------------------------*/
+
+/* Trap 31 handler. */
+void interrupt31_handler( void ) __attribute__((naked));
+void interrupt31_handler( void )
+{
+	portSAVE_CONTEXT();
+	__asm volatile ( "call vTaskSwitchContext" );
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+static void prvProcessTick( void ) __attribute__((noinline));
+static void prvProcessTick( void )
+{
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		vTaskSwitchContext();
+	}
+		
+	/* Clear the Tick Interrupt. */
+	counter1->expired = 0;
+}
+/*-----------------------------------------------------------*/
+
+/* Timer 1 interrupt handler, used for tick interrupt. */
+void interrupt7_handler( void ) __attribute__((naked));
+void interrupt7_handler( void )
+{
+	portSAVE_CONTEXT();
+	prvProcessTick();
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Nothing to do. Unlikely to want to end. */
+}
+/*-----------------------------------------------------------*/

portable/GCC/CORTUS_APS3/portmacro.h

@@ -0,0 +1,152 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <machine/cpu.h>
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH							( -1 )
+#define portTICK_PERIOD_MS							( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT							4
+#define portNOP()									__asm__ volatile ( "mov r0, r0" )
+#define portCRITICAL_NESTING_IN_TCB					1
+#define portIRQ_TRAP_YIELD							31
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+extern void vPortYield( void );
+
+/*---------------------------------------------------------------------------*/
+
+#define portYIELD()		asm __volatile__( " trap #%0 "::"i"(portIRQ_TRAP_YIELD):"memory")
+/*---------------------------------------------------------------------------*/
+
+extern void vTaskEnterCritical( void );
+extern void vTaskExitCritical( void );
+#define portENTER_CRITICAL()		vTaskEnterCritical()
+#define portEXIT_CRITICAL()			vTaskExitCritical()
+/*---------------------------------------------------------------------------*/
+
+/* Critical section management. */
+#define portDISABLE_INTERRUPTS() 	cpu_int_disable()
+#define portENABLE_INTERRUPTS() 	cpu_int_enable()
+
+/*---------------------------------------------------------------------------*/
+
+#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) if( xHigherPriorityTaskWoken != pdFALSE ) vTaskSwitchContext()
+
+/*---------------------------------------------------------------------------*/
+
+#define portSAVE_CONTEXT()				\
+	asm __volatile__																								\
+	(																												\
+		"sub	r1, #68					\n" /* Make space on the stack for the context. */							\
+		"std	r2, [r1] + 	0			\n"																			\
+		"stq	r4, [r1] +	8			\n"																			\
+		"stq	r8, [r1] +	24			\n"																			\
+		"stq	r12, [r1] +	40			\n"																			\
+		"mov	r6, rtt					\n"																			\
+		"mov	r7, psr					\n"																			\
+		"std	r6, [r1] +	56			\n"																			\
+		"movhi	r2, #16384				\n"	/* Set the pointer to the IC. */										\
+		"ldub	r3, [r2] + 2			\n"	/* Load the current interrupt mask. */									\
+		"st		r3, [r1]+ 64			\n"	/* Store the interrupt mask on the stack. */ 							\
+		"ld		r2, [r0]+short(pxCurrentTCB)	\n"	/* Load the pointer to the TCB. */								\
+		"st		r1, [r2]				\n"	/* Save the stack pointer into the TCB. */								\
+		"mov	r14, r1					\n"	/* Compiler expects r14 to be set to the function stack. */				\
+	);
+/*---------------------------------------------------------------------------*/
+
+#define portRESTORE_CONTEXT()																						\
+	asm __volatile__(																								\
+		"ld		r2, [r0]+short(pxCurrentTCB)	\n"	/* Load the TCB to find the stack pointer and context. */		\
+		"ld		r1, [r2]				\n"																			\
+		"movhi	r2, #16384				\n"	/* Set the pointer to the IC. */										\
+		"ld		r3, [r1] + 64			\n"	/* Load the previous interrupt mask. */									\
+		"stb	r3, [r2] + 2  			\n"	/* Set the current interrupt mask to be the previous. */				\
+		"ldd	r6, [r1] + 56			\n"	/* Restore context. */													\
+		"mov	rtt, r6					\n"																			\
+		"mov	psr, r7					\n"																			\
+		"ldd	r2, [r1] + 0			\n"																			\
+		"ldq	r4, [r1] +	8			\n"																			\
+		"ldq	r8, [r1] +	24			\n"																			\
+		"ldq	r12, [r1] +	40			\n"																			\
+		"add	r1, #68					\n"																			\
+		"rti							\n"																			\
+	 );
+
+/*---------------------------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*---------------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */

portable/GCC/ColdFire_V2/port.c

@@ -0,0 +1,134 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define portINITIAL_FORMAT_VECTOR		( ( StackType_t ) 0x4000 )
+
+/* Supervisor mode set. */
+#define portINITIAL_STATUS_REGISTER		( ( StackType_t ) 0x2000)
+
+/* Used to keep track of the number of nested calls to taskENTER_CRITICAL().  This
+will be set to 0 prior to the first task being started. */
+static uint32_t ulCriticalNesting = 0x9999UL;
+
+/*-----------------------------------------------------------*/
+
+StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	*pxTopOfStack = ( StackType_t ) pvParameters;
+	pxTopOfStack--;
+
+	*pxTopOfStack = (StackType_t) 0xDEADBEEF;
+	pxTopOfStack--;
+
+	/* Exception stack frame starts with the return address. */
+	*pxTopOfStack = ( StackType_t ) pxCode;
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
+	pxTopOfStack -= 14; /* A5 to D0. */
+
+    return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+extern void vPortStartFirstTask( void );
+
+	ulCriticalNesting = 0UL;
+
+	/* Configure the interrupts used by this port. */
+	vApplicationSetupInterrupts();
+
+	/* Start the first task executing. */
+	vPortStartFirstTask();
+
+	return pdFALSE;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented as there is nothing to return to. */
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	if( ulCriticalNesting == 0UL )
+	{
+		/* Guard against context switches being pended simultaneously with a
+		critical section being entered. */
+		do
+		{
+			portDISABLE_INTERRUPTS();
+			if( MCF_INTC0_INTFRCL == 0UL )
+			{
+				break;
+			}
+
+			portENABLE_INTERRUPTS();
+
+		} while( 1 );
+	}
+	ulCriticalNesting++;
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	ulCriticalNesting--;
+	if( ulCriticalNesting == 0 )
+	{
+		portENABLE_INTERRUPTS();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortYieldHandler( void )
+{
+uint32_t ulSavedInterruptMask;
+
+	ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
+		/* Note this will clear all forced interrupts - this is done for speed. */
+		MCF_INTC0_INTFRCL = 0;
+		vTaskSwitchContext();
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
+}
+
+
+
+
+
+

portable/GCC/ColdFire_V2/portasm.S

@@ -0,0 +1,120 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+ * Purpose: Lowest level routines for all ColdFire processors.
+ *
+ * Notes:
+ * 
+ * ulPortSetIPL() and mcf5xxx_wr_cacr() copied with permission from FreeScale
+ * supplied source files.
+ */
+
+    .global ulPortSetIPL
+    .global mcf5xxx_wr_cacr
+    .global __cs3_isr_interrupt_80
+    .global vPortStartFirstTask
+
+    .text
+
+.macro portSAVE_CONTEXT
+
+	lea.l		(-60, %sp), %sp
+	movem.l		%d0-%fp, (%sp)
+	move.l		pxCurrentTCB, %a0
+	move.l		%sp, (%a0)
+
+	.endm
+
+.macro portRESTORE_CONTEXT
+
+	move.l		pxCurrentTCB, %a0
+	move.l		(%a0), %sp
+	movem.l		(%sp), %d0-%fp
+	lea.l		%sp@(60), %sp
+	rte
+
+	.endm
+
+/********************************************************************/
+/*
+ * This routines changes the IPL to the value passed into the routine.
+ * It also returns the old IPL value back.
+ * Calling convention from C:
+ *   old_ipl = asm_set_ipl(new_ipl);
+ * For the Diab Data C compiler, it passes return value thru D0.
+ * Note that only the least significant three bits of the passed
+ * value are used.
+ */
+
+ulPortSetIPL:
+    link    A6,#-8
+    movem.l D6-D7,(SP)
+
+    move.w  SR,D7       /* current sr    */
+
+    move.l  D7,D0       /* prepare return value  */
+    andi.l  #0x0700,D0  /* mask out IPL  */
+    lsr.l   #8,D0       /* IPL   */
+
+    move.l  8(A6),D6    /* get argument  */
+    andi.l  #0x07,D6    /* least significant three bits  */
+    lsl.l   #8,D6       /* move over to make mask    */
+
+    andi.l  #0x0000F8FF,D7  /* zero out current IPL  */
+    or.l    D6,D7           /* place new IPL in sr   */
+    move.w  D7,SR
+
+    movem.l (SP),D6-D7
+    lea     8(SP),SP
+    unlk    A6
+    rts
+/********************************************************************/
+
+mcf5xxx_wr_cacr:
+    move.l  4(sp),d0
+    .long   0x4e7b0002  /* movec d0,cacr   */
+    nop
+    rts
+
+/********************************************************************/
+
+/* Yield interrupt. */
+__cs3_isr_interrupt_80:
+	portSAVE_CONTEXT
+	jsr vPortYieldHandler
+	portRESTORE_CONTEXT
+
+/********************************************************************/
+
+
+vPortStartFirstTask:
+	portRESTORE_CONTEXT
+
+    .end
+
+

portable/GCC/ColdFire_V2/portmacro.h

@@ -0,0 +1,114 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portBYTE_ALIGNMENT			4
+#define portSTACK_GROWTH			-1
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+/*-----------------------------------------------------------*/
+uint32_t ulPortSetIPL( uint32_t );
+#define portDISABLE_INTERRUPTS()	ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+#define portENABLE_INTERRUPTS()		ulPortSetIPL( 0 )
+
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+#define portENTER_CRITICAL()		vPortEnterCritical()
+#define portEXIT_CRITICAL()			vPortExitCritical()
+
+extern UBaseType_t uxPortSetInterruptMaskFromISR( void );
+extern void vPortClearInterruptMaskFromISR( UBaseType_t );
+#define portSET_INTERRUPT_MASK_FROM_ISR()	ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister )
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+#define portNOP()	asm volatile ( 	"nop" )
+
+/* Note this will overwrite all other bits in the force register, it is done this way for speed. */
+#define portYIELD()			MCF_INTC0_INTFRCL = ( 1UL << configYIELD_INTERRUPT_VECTOR ); portNOP(); portNOP()
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn))
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
+
+#define portEND_SWITCHING_ISR( xSwitchRequired )	if( xSwitchRequired != pdFALSE )	\
+													{									\
+														portYIELD();					\
+													}
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/H8S2329/port.c

@@ -0,0 +1,303 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the H8S port.
+ *----------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------*/
+
+/* When the task starts interrupts should be enabled. */
+#define portINITIAL_CCR			( ( StackType_t ) 0x00 )
+
+/* Hardware specific constants used to generate the RTOS tick from the TPU. */
+#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 )
+#define portCLOCK_DIV_64				( ( uint8_t ) 0x03 )
+#define portCLOCK_DIV					( ( uint32_t ) 64 )
+#define portTGRA_INTERRUPT_ENABLE		( ( uint8_t ) 0x01 )
+#define portTIMER_CHANNEL				( ( uint8_t ) 0x02 )
+#define portMSTP13						( ( uint16_t ) 0x2000 )
+
+/*
+ * Setup TPU channel one for the RTOS tick at the requested frequency.
+ */
+static void prvSetupTimerInterrupt( void );
+
+/*
+ * The ISR used by portYIELD(). This is installed as a trap handler.
+ */
+void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) );
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+uint32_t ulValue;
+
+	/* This requires an even address. */
+	ulValue = ( uint32_t ) pxTopOfStack;
+	if( ulValue & 1UL )
+	{
+		pxTopOfStack = pxTopOfStack - 1;
+	}
+
+	/* Place a few bytes of known values on the bottom of the stack. 
+	This is just useful for debugging. */
+	pxTopOfStack--;
+	*pxTopOfStack = 0xaa;
+	pxTopOfStack--;
+	*pxTopOfStack = 0xbb;
+	pxTopOfStack--;
+	*pxTopOfStack = 0xcc;
+	pxTopOfStack--;
+	*pxTopOfStack = 0xdd;
+
+	/* The initial stack mimics an interrupt stack.  First there is the program
+	counter (24 bits). */
+	ulValue = ( uint32_t ) pxCode;
+
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+	pxTopOfStack--;
+	ulValue >>= 8UL;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+	pxTopOfStack--;
+	ulValue >>= 8UL;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+
+	/* Followed by the CCR. */	
+	pxTopOfStack--;
+	*pxTopOfStack = portINITIAL_CCR;
+
+	/* Next all the general purpose registers - with the parameters being passed
+	in ER0.  The parameter order must match that used by the compiler when the
+	"saveall" function attribute is used. */
+
+	/* ER6 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x66;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x66;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x66;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x66;
+	
+	/* ER0 */
+	ulValue = ( uint32_t ) pvParameters;
+
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+	pxTopOfStack--;
+	ulValue >>= 8UL;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+	pxTopOfStack--;
+	ulValue >>= 8UL;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+	pxTopOfStack--;
+	ulValue >>= 8UL;
+	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
+	
+	/* ER1 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x11;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x11;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x11;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x11;
+
+	/* ER2 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x22;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x22;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x22;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x22;
+
+	/* ER3 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x33;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x33;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x33;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x33;
+
+	/* ER4 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x44;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x44;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x44;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x44;
+
+	/* ER5 */
+	pxTopOfStack--;
+	*pxTopOfStack = 0x55;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x55;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x55;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x55;
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+extern void * pxCurrentTCB;
+
+	/* Setup the hardware to generate the tick. */
+	prvSetupTimerInterrupt();
+
+	/* Restore the context of the first task that is going to run.  This
+	mirrors the function epilogue code generated by the compiler when the
+	"saveall" function attribute is used. */
+	asm volatile ( 
+					"MOV.L		@_pxCurrentTCB, ER6			\n\t"
+					"MOV.L		@ER6, ER7					\n\t"
+					"LDM.L     	@SP+, (ER4-ER5)				\n\t"
+					"LDM.L     	@SP+, (ER0-ER3)				\n\t"
+					"MOV.L     	@ER7+, ER6					\n\t"
+					"RTE									\n\t"
+				);
+
+	( void ) pxCurrentTCB;
+
+	/* Should not get here. */
+	return pdTRUE;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the h8 port will get stopped. */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Manual context switch.  This is a trap handler.  The "saveall" function
+ * attribute is used so the context is saved by the compiler prologue.  All
+ * we have to do is save the stack pointer.
+ */
+void vPortYield( void )
+{
+	portSAVE_STACK_POINTER();
+		vTaskSwitchContext();
+	portRESTORE_STACK_POINTER();
+}
+/*-----------------------------------------------------------*/
+
+/* 
+ * The interrupt handler installed for the RTOS tick depends on whether the 
+ * preemptive or cooperative scheduler is being used. 
+ */
+#if( configUSE_PREEMPTION == 1 )
+
+	/* 
+	 * The preemptive scheduler is used so the ISR calls vTaskSwitchContext().
+	 * The function prologue saves the context so all we have to do is save
+	 * the stack pointer.
+	 */
+	void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) );
+	void vTickISR( void )
+	{
+		portSAVE_STACK_POINTER();
+		
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			vTaskSwitchContext();
+		}
+
+		/* Clear the interrupt. */
+		TSR1 &= ~0x01;
+
+		portRESTORE_STACK_POINTER();
+	}
+
+#else
+
+	/*
+	 * The cooperative scheduler is being used so all we have to do is 
+	 * periodically increment the tick.  This can just be a normal ISR and
+	 * the "saveall" attribute is not required.
+	 */
+	void vTickISR( void ) __attribute__ ( ( interrupt_handler ) );
+	void vTickISR( void )
+	{
+		xTaskIncrementTick();
+
+		/* Clear the interrupt. */
+		TSR1 &= ~0x01;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup timer 1 compare match to generate a tick interrupt.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV;
+
+	/* Turn the module on. */
+	MSTPCR &= ~portMSTP13;
+
+	/* Configure timer 1. */
+	TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64;
+
+	/* Configure the compare match value for a tick of configTICK_RATE_HZ. */
+	TGR1A = ulCompareMatch;
+
+	/* Start the timer and enable the interrupt - we can do this here as 
+	interrupts are globally disabled when this function is called. */
+	TIER1 |= portTGRA_INTERRUPT_ENABLE;
+	TSTR |= portTIMER_CHANNEL;
+}
+/*-----------------------------------------------------------*/
+
+
+

portable/GCC/H8S2329/portmacro.h

@@ -0,0 +1,138 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint8_t
+#define portBASE_TYPE	char
+
+typedef portSTACK_TYPE StackType_t;
+typedef signed char BaseType_t;
+typedef unsigned char UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portBYTE_ALIGNMENT			2
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portYIELD()					asm volatile( "TRAPA #0" )
+#define portNOP()					asm volatile( "NOP" )
+/*-----------------------------------------------------------*/
+
+/* Critical section handling. */
+#define portENABLE_INTERRUPTS()		asm volatile( "ANDC	#0x7F, CCR" );
+#define portDISABLE_INTERRUPTS()	asm volatile( "ORC  #0x80, CCR" );
+
+/* Push the CCR then disable interrupts. */
+#define portENTER_CRITICAL()  		asm volatile( "STC	CCR, @-ER7" ); \
+                               		portDISABLE_INTERRUPTS();
+
+/* Pop the CCR to set the interrupt masking back to its previous state. */
+#define  portEXIT_CRITICAL()    	asm volatile( "LDC  @ER7+, CCR" );
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/* Context switch macros.  These macros are very simple as the context
+is saved simply by selecting the saveall attribute of the context switch
+interrupt service routines.  These macros save and restore the stack
+pointer to the TCB. */
+
+#define portSAVE_STACK_POINTER()								\
+extern void* pxCurrentTCB;										\
+																\
+	asm volatile(												\
+					"MOV.L	@_pxCurrentTCB, ER5			\n\t" 	\
+					"MOV.L	ER7, @ER5					\n\t"	\
+				);												\
+	( void ) pxCurrentTCB;
+
+
+#define	portRESTORE_STACK_POINTER()								\
+extern void* pxCurrentTCB;										\
+																\
+	asm volatile(												\
+					"MOV.L	@_pxCurrentTCB, ER5			\n\t"	\
+					"MOV.L	@ER5, ER7					\n\t"	\
+				);												\
+	( void ) pxCurrentTCB;
+
+/*-----------------------------------------------------------*/
+
+/* Macros to allow a context switch from within an application ISR. */
+
+#define portENTER_SWITCHING_ISR() portSAVE_STACK_POINTER(); {
+
+#define portEXIT_SWITCHING_ISR( x )							\
+	if( x )													\
+	{														\
+		extern void vTaskSwitchContext( void );				\
+		vTaskSwitchContext();								\
+	}														\
+	} portRESTORE_STACK_POINTER();
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/HCS12/port.c

@@ -0,0 +1,237 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* GCC/HCS12 port by Jefferson L Smith, 2005 */
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Port includes */
+#include <sys/ports_def.h>
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the HCS12 port.
+ *----------------------------------------------------------*/
+
+
+/*
+ * Configure a timer to generate the RTOS tick at the frequency specified 
+ * within FreeRTOSConfig.h.
+ */
+static void prvSetupTimerInterrupt( void );
+
+/* NOTE: Interrupt service routines must be in non-banked memory - as does the
+scheduler startup function. */
+#define ATTR_NEAR	__attribute__((near))
+
+/* Manual context switch function.  This is the SWI ISR. */
+// __attribute__((interrupt))
+void ATTR_NEAR vPortYield( void );
+
+/* Tick context switch function.  This is the timer ISR. */
+// __attribute__((interrupt))
+void ATTR_NEAR vPortTickInterrupt( void );
+
+/* Function in non-banked memory which actually switches to first task. */
+BaseType_t ATTR_NEAR xStartSchedulerNear( void );
+
+/* Calls to portENTER_CRITICAL() can be nested.  When they are nested the 
+critical section should not be left (i.e. interrupts should not be re-enabled)
+until the nesting depth reaches 0.  This variable simply tracks the nesting 
+depth.  Each task maintains it's own critical nesting depth variable so 
+uxCriticalNesting is saved and restored from the task stack during a context
+switch. */
+volatile UBaseType_t uxCriticalNesting = 0x80;  // un-initialized
+
+/*-----------------------------------------------------------*/
+
+/* 
+ * See header file for description. 
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+
+
+	/* Setup the initial stack of the task.  The stack is set exactly as 
+	expected by the portRESTORE_CONTEXT() macro.  In this case the stack as
+	expected by the HCS12 RTI instruction. */
+
+
+	/* The address of the task function is placed in the stack byte at a time. */
+	*pxTopOfStack   = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 1 );
+	*--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 0 );
+
+	/* Next are all the registers that form part of the task context. */
+
+	/* Y register */
+	*--pxTopOfStack = ( StackType_t ) 0xff;
+	*--pxTopOfStack = ( StackType_t ) 0xee;
+
+	/* X register */
+	*--pxTopOfStack = ( StackType_t ) 0xdd;
+	*--pxTopOfStack = ( StackType_t ) 0xcc;
+ 
+	/* A register contains parameter high byte. */
+	*--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 0 );
+
+	/* B register contains parameter low byte. */
+	*--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 1 );
+
+	/* CCR: Note that when the task starts interrupts will be enabled since
+	"I" bit of CCR is cleared */
+	*--pxTopOfStack = ( StackType_t ) 0x80;		// keeps Stop disabled (MCU default)
+	
+	/* tmp softregs used by GCC. Values right now don't	matter. */
+	__asm("\n\
+		movw _.frame, 2,-%0							\n\
+		movw _.tmp, 2,-%0							\n\
+		movw _.z, 2,-%0								\n\
+		movw _.xy, 2,-%0							\n\
+		;movw _.d2, 2,-%0							\n\
+		;movw _.d1, 2,-%0							\n\
+	": "=A"(pxTopOfStack) : "0"(pxTopOfStack) );
+
+	#ifdef BANKED_MODEL
+		/* The page of the task. */
+		*--pxTopOfStack = 0x30;      // can only directly start in PPAGE 0x30
+	#endif
+	
+	/* The critical nesting depth is initialised with 0 (meaning not in
+	a critical section). */
+	*--pxTopOfStack = ( StackType_t ) 0x00;
+
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the HCS12 port will get stopped. */
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupTimerInterrupt( void )
+{
+	/* Enable hardware RTI timer */
+	/* Ignores configTICK_RATE_HZ */
+	RTICTL = 0x50;			// 16 MHz xtal: 976.56 Hz, 1024mS 
+	CRGINT |= 0x80;			// RTIE
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* xPortStartScheduler() does not start the scheduler directly because 
+	the header file containing the xPortStartScheduler() prototype is part 
+	of the common kernel code, and therefore cannot use the CODE_SEG pragma. 
+	Instead it simply calls the locally defined xNearStartScheduler() - 
+	which does use the CODE_SEG pragma. */
+
+	int16_t register d;
+	__asm ("jmp  xStartSchedulerNear		; will never return": "=d"(d));
+	return d;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xStartSchedulerNear( void )
+{
+	/* Configure the timer that will generate the RTOS tick.  Interrupts are
+	disabled when this function is called. */
+	prvSetupTimerInterrupt();
+
+	/* Restore the context of the first task. */
+	portRESTORE_CONTEXT();
+
+	portISR_TAIL();
+
+	/* Should not get here! */
+	return pdFALSE;
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Context switch functions.  These are interrupt service routines.
+ */
+
+/*
+ * Manual context switch forced by calling portYIELD().  This is the SWI
+ * handler.
+ */
+void vPortYield( void )
+{
+	portISR_HEAD();
+	/* NOTE: This is the trap routine (swi) although not defined as a trap.
+	   It will fill the stack the same way as an ISR in order to mix preemtion
+	   and cooperative yield. */
+
+	portSAVE_CONTEXT();
+	vTaskSwitchContext();
+	portRESTORE_CONTEXT();
+
+	portISR_TAIL();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * RTOS tick interrupt service routine.  If the cooperative scheduler is 
+ * being used then this simply increments the tick count.  If the 
+ * preemptive scheduler is being used a context switch can occur.
+ */
+void vPortTickInterrupt( void )
+{
+	portISR_HEAD();
+
+	/* Clear tick timer flag */
+	CRGFLG = 0x80;
+
+	#if configUSE_PREEMPTION == 1
+	{
+		/* A context switch might happen so save the context. */
+		portSAVE_CONTEXT();
+
+		/* Increment the tick ... */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is necessary. */
+			vTaskSwitchContext();
+		}
+
+		/* Restore the context of a task - which may be a different task
+		to that interrupted. */
+		portRESTORE_CONTEXT();
+	}
+	#else
+	{
+		xTaskIncrementTick();
+	}
+	#endif
+
+	portISR_TAIL();
+}
+

portable/GCC/HCS12/portmacro.h

@@ -0,0 +1,246 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint8_t
+#define portBASE_TYPE	char
+
+typedef portSTACK_TYPE StackType_t;
+typedef signed char BaseType_t;
+typedef unsigned char UBaseType_t;
+
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portBYTE_ALIGNMENT			1
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portYIELD()					__asm( "swi" );
+/*-----------------------------------------------------------*/
+
+/* Critical section handling. */
+#define portENABLE_INTERRUPTS()				__asm( "cli" )
+#define portDISABLE_INTERRUPTS()			__asm( "sei" )
+
+/*
+ * Disable interrupts before incrementing the count of critical section nesting.
+ * The nesting count is maintained so we know when interrupts should be
+ * re-enabled.  Once interrupts are disabled the nesting count can be accessed
+ * directly.  Each task maintains its own nesting count.
+ */
+#define portENTER_CRITICAL()  									\
+{																\
+	extern volatile UBaseType_t uxCriticalNesting;	\
+																\
+	portDISABLE_INTERRUPTS();									\
+	uxCriticalNesting++;										\
+}
+
+/*
+ * Interrupts are disabled so we can access the nesting count directly.  If the
+ * nesting is found to be 0 (no nesting) then we are leaving the critical
+ * section and interrupts can be re-enabled.
+ */
+#define  portEXIT_CRITICAL()									\
+{																\
+	extern volatile UBaseType_t uxCriticalNesting;	\
+																\
+	uxCriticalNesting--;										\
+	if( uxCriticalNesting == 0 )								\
+	{															\
+		portENABLE_INTERRUPTS();								\
+	}															\
+}
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/*
+ * These macros are very simple as the processor automatically saves and
+ * restores its registers as interrupts are entered and exited.  In
+ * addition to the (automatically stacked) registers we also stack the
+ * critical nesting count.  Each task maintains its own critical nesting
+ * count as it is legitimate for a task to yield from within a critical
+ * section.  If the banked memory model is being used then the PPAGE
+ * register is also stored as part of the tasks context.
+ */
+
+#ifdef BANKED_MODEL
+	/*
+	 * Load the stack pointer for the task, then pull the critical nesting
+	 * count and PPAGE register from the stack.  The remains of the
+	 * context are restored by the RTI instruction.
+	 */
+	#define portRESTORE_CONTEXT()							\
+	{										\
+		__asm( "								\n\
+		.globl pxCurrentTCB			; void *			\n\
+		.globl uxCriticalNesting		; char				\n\
+											\n\
+		ldx  pxCurrentTCB							\n\
+		lds  0,x				; Stack				\n\
+											\n\
+		movb 1,sp+,uxCriticalNesting						\n\
+		movb 1,sp+,0x30				; PPAGE				\n\
+		" );									\
+	}
+
+	/*
+	 * By the time this macro is called the processor has already stacked the
+	 * registers.  Simply stack the nesting count and PPAGE value, then save
+	 * the task stack pointer.
+	 */
+	#define portSAVE_CONTEXT()							\
+	{										\
+		__asm( "								\n\
+		.globl pxCurrentTCB			; void *			\n\
+		.globl uxCriticalNesting		; char				\n\
+											\n\
+		movb 0x30, 1,-sp			; PPAGE				\n\
+		movb uxCriticalNesting, 1,-sp						\n\
+											\n\
+		ldx  pxCurrentTCB							\n\
+		sts  0,x				; Stack				\n\
+		" );									\
+	}
+#else
+
+	/*
+	 * These macros are as per the BANKED versions above, but without saving
+	 * and restoring the PPAGE register.
+	 */
+
+	#define portRESTORE_CONTEXT()							\
+	{										\
+		__asm( "								\n\
+		.globl pxCurrentTCB			; void *			\n\
+		.globl uxCriticalNesting		; char				\n\
+											\n\
+		ldx  pxCurrentTCB							\n\
+		lds  0,x				; Stack				\n\
+											\n\
+		movb 1,sp+,uxCriticalNesting						\n\
+		" );									\
+	}
+
+	#define portSAVE_CONTEXT()							\
+	{										\
+		__asm( "								\n\
+		.globl pxCurrentTCB			; void *			\n\
+		.globl uxCriticalNesting		; char				\n\
+											\n\
+		movb uxCriticalNesting, 1,-sp						\n\
+											\n\
+		ldx  pxCurrentTCB							\n\
+		sts  0,x				; Stack				\n\
+		" );									\
+	}
+#endif
+
+/*
+ * Utility macros to save/restore correct software registers for GCC. This is
+ * useful when GCC does not generate appropriate ISR head/tail code.
+ */
+#define portISR_HEAD()									\
+{											\
+		__asm("									\n\
+		movw _.frame, 2,-sp							\n\
+		movw _.tmp, 2,-sp							\n\
+		movw _.z, 2,-sp								\n\
+		movw _.xy, 2,-sp							\n\
+		;movw _.d2, 2,-sp							\n\
+		;movw _.d1, 2,-sp							\n\
+		");									\
+}
+
+#define portISR_TAIL()									\
+{											\
+		__asm("									\n\
+		movw 2,sp+, _.xy							\n\
+		movw 2,sp+, _.z								\n\
+		movw 2,sp+, _.tmp							\n\
+		movw 2,sp+, _.frame							\n\
+		;movw 2,sp+, _.d1							\n\
+		;movw 2,sp+, _.d2							\n\
+		rti									\n\
+		");									\
+}
+
+/*
+ * Utility macro to call macros above in correct order in order to perform a
+ * task switch from within a standard ISR.  This macro can only be used if
+ * the ISR does not use any local (stack) variables.  If the ISR uses stack
+ * variables portYIELD() should be used in it's place.
+ */
+
+#define portTASK_SWITCH_FROM_ISR()								\
+	portSAVE_CONTEXT();											\
+	vTaskSwitchContext();										\
+	portRESTORE_CONTEXT();
+
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/IA32_flat/ISR_Support.h

@@ -0,0 +1,127 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+	.extern ulTopOfSystemStack
+	.extern ulInterruptNesting
+
+/*-----------------------------------------------------------*/
+
+.macro portFREERTOS_INTERRUPT_ENTRY
+
+	/* Save general purpose registers. */
+	pusha
+
+	/* If ulInterruptNesting is zero the rest of the task context will need
+	saving and a stack switch might be required. */
+	movl	ulInterruptNesting, %eax
+	test	%eax, %eax
+	jne		2f
+
+	/* Interrupts are not nested, so save the rest of the task context. */
+	.if configSUPPORT_FPU == 1
+
+		/* If the task has a buffer allocated to save the FPU context then
+		save the FPU context now. */
+		movl	pucPortTaskFPUContextBuffer, %eax
+		test	%eax, %eax
+		je		1f
+		fnsave	( %eax ) /* Save FLOP context into ucTempFPUBuffer array. */
+		fwait
+
+		1:
+		/* Save the address of the FPU context, if any. */
+		push	pucPortTaskFPUContextBuffer
+
+	.endif /* configSUPPORT_FPU */
+
+	/* Find the TCB. */
+	movl 	pxCurrentTCB, %eax
+
+	/* Stack location is first item in the TCB. */
+	movl	%esp, (%eax)
+
+	/* Switch stacks. */
+	movl 	ulTopOfSystemStack, %esp
+	movl	%esp, %ebp
+
+	2:
+	/* Increment nesting count. */
+	add 	$1, ulInterruptNesting
+
+.endm
+/*-----------------------------------------------------------*/
+
+.macro portINTERRUPT_EPILOGUE
+
+	cli
+	sub		$1, ulInterruptNesting
+
+	/* If the nesting has unwound to zero. */
+	movl	ulInterruptNesting, %eax
+	test	%eax, %eax
+	jne		2f
+
+	/* If a yield was requested then select a new TCB now. */
+	movl	ulPortYieldPending, %eax
+	test	%eax, %eax
+	je		1f
+	movl	$0, ulPortYieldPending
+	call	vTaskSwitchContext
+
+	1:
+	/* Stack location is first item in the TCB. */
+	movl 	pxCurrentTCB, %eax
+	movl	(%eax), %esp
+
+	.if configSUPPORT_FPU == 1
+
+		/* Restore address of task's FPU context buffer. */
+		pop 	pucPortTaskFPUContextBuffer
+
+		/* If the task has a buffer allocated in which its FPU context is saved,
+		then restore it now. */
+		movl	pucPortTaskFPUContextBuffer, %eax
+		test	%eax, %eax
+		je		1f
+		frstor	( %eax )
+		1:
+	.endif
+
+	2:
+	popa
+
+.endm
+/*-----------------------------------------------------------*/
+
+.macro portFREERTOS_INTERRUPT_EXIT
+
+	portINTERRUPT_EPILOGUE
+	/* EOI. */
+	movl	$0x00, (0xFEE000B0)
+	iret
+
+.endm

portable/GCC/IA32_flat/port.c

@@ -0,0 +1,686 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <limits.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#if( configISR_STACK_SIZE < ( configMINIMAL_STACK_SIZE * 2 ) )
+	#warning configISR_STACK_SIZE is probably too small!
+#endif /* ( configISR_STACK_SIZE < configMINIMAL_STACK_SIZE * 2 ) */
+
+#if( ( configMAX_API_CALL_INTERRUPT_PRIORITY > portMAX_PRIORITY ) || ( configMAX_API_CALL_INTERRUPT_PRIORITY < 2 ) )
+	#error configMAX_API_CALL_INTERRUPT_PRIORITY must be between 2 and 15
+#endif
+
+#if( ( configSUPPORT_FPU == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) )
+	#error configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 to use this port with an FPU
+#endif
+
+/* A critical section is exited when the critical section nesting count reaches
+this value. */
+#define portNO_CRITICAL_NESTING			( ( uint32_t ) 0 )
+
+/* Tasks are not created with a floating point context, but can be given a
+floating point context after they have been created.  A variable is stored as
+part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
+does not have an FPU context, or any other value if the task does have an FPU
+context. */
+#define portNO_FLOATING_POINT_CONTEXT	( ( StackType_t ) 0 )
+
+/* Only the IF bit is set so tasks start with interrupts enabled. */
+#define portINITIAL_EFLAGS				( 0x200UL )
+
+/* Error interrupts are at the highest priority vectors. */
+#define portAPIC_LVT_ERROR_VECTOR 		( 0xfe )
+#define portAPIC_SPURIOUS_INT_VECTOR 	( 0xff )
+
+/* EFLAGS bits. */
+#define portEFLAGS_IF					( 0x200UL )
+
+/* FPU context size if FSAVE is used. */
+#define portFPU_CONTEXT_SIZE_BYTES 		108
+
+/* The expected size of each entry in the IDT.  Used to check structure packing
+ is set correctly. */
+#define portEXPECTED_IDT_ENTRY_SIZE		8
+
+/* Default flags setting for entries in the IDT. */
+#define portIDT_FLAGS					( 0x8E )
+
+/* This is the lowest possible ISR vector available to application code. */
+#define portAPIC_MIN_ALLOWABLE_VECTOR	( 0x20 )
+
+/* If configASSERT() is defined then the system stack is filled with this value
+to allow for a crude stack overflow check. */
+#define portSTACK_WORD					( 0xecececec )
+/*-----------------------------------------------------------*/
+
+/*
+ * Starts the first task executing.
+ */
+extern void vPortStartFirstTask( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*
+ * Complete one descriptor in the IDT.
+ */
+static void prvSetInterruptGate( uint8_t ucNumber, ISR_Handler_t pxHandlerFunction, uint8_t ucFlags );
+
+/*
+ * The default handler installed in each IDT position.
+ */
+extern void vPortCentralInterruptWrapper( void );
+
+/*
+ * Handler for portYIELD().
+ */
+extern void vPortYieldCall( void );
+
+/*
+ * Configure the APIC to generate the RTOS tick.
+ */
+static void prvSetupTimerInterrupt( void );
+
+/*
+ * Tick interrupt handler.
+ */
+extern void vPortTimerHandler( void );
+
+/*
+ * Check an interrupt vector is not too high, too low, in use by FreeRTOS, or
+ * already in use by the application.
+ */
+static BaseType_t prvCheckValidityOfVectorNumber( uint32_t ulVectorNumber );
+
+/*-----------------------------------------------------------*/
+
+/* A variable is used to keep track of the critical section nesting.  This
+variable must be initialised to a non zero value to ensure interrupts don't
+inadvertently become unmasked before the scheduler starts. It is set to zero
+before the first task starts executing. */
+volatile uint32_t ulCriticalNesting = 9999UL;
+
+/* A structure used to map the various fields of an IDT entry into separate
+structure members. */
+struct IDTEntry
+{
+	uint16_t usISRLow;				/* Low 16 bits of handler address. */
+	uint16_t usSegmentSelector;		/* Flat model means this is not changed. */
+	uint8_t ucZero;					/* Must be set to zero. */
+	uint8_t ucFlags;				/* Flags for this entry. */
+	uint16_t usISRHigh;				/* High 16 bits of handler address. */
+} __attribute__( ( packed ) );
+typedef struct IDTEntry IDTEntry_t;
+
+
+/* Use to pass the location of the IDT to the CPU. */
+struct IDTPointer
+{
+   uint16_t usTableLimit;
+   uint32_t ulTableBase;                /* The address of the first entry in xInterruptDescriptorTable. */
+} __attribute__( ( __packed__ ) );
+typedef struct IDTPointer IDTPointer_t;
+
+/* The IDT itself. */
+static __attribute__ ( ( aligned( 32 ) ) ) IDTEntry_t xInterruptDescriptorTable[ portNUM_VECTORS ];
+
+#if ( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 )
+
+	/* A table in which application defined interrupt handlers are stored.  These
+	are called by the central interrupt handler if a common interrupt entry
+	point it used. */
+	static ISR_Handler_t xInterruptHandlerTable[ portNUM_VECTORS ] = { NULL };
+
+#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */
+
+#if ( configSUPPORT_FPU == 1 )
+
+	/* Saved as part of the task context.  If pucPortTaskFPUContextBuffer is NULL
+	then the task does not have an FPU context.  If pucPortTaskFPUContextBuffer is
+	not NULL then it points to a buffer into which the FPU context can be saved. */
+	uint8_t *pucPortTaskFPUContextBuffer __attribute__((used)) = pdFALSE;
+
+#endif /* configSUPPORT_FPU */
+
+/* The stack used by interrupt handlers. */
+static uint32_t ulSystemStack[ configISR_STACK_SIZE ] __attribute__((used))  = { 0 };
+
+/* Don't use the very top of the system stack so the return address
+appears as 0 if the debugger tries to unwind the stack. */
+volatile uint32_t ulTopOfSystemStack __attribute__((used)) = ( uint32_t ) &( ulSystemStack[ configISR_STACK_SIZE - 5 ] );
+
+/* If a yield is requested from an interrupt or from a critical section then
+the yield is not performed immediately, and ulPortYieldPending is set to pdTRUE
+instead to indicate the yield should be performed at the end of the interrupt
+when the critical section is exited. */
+volatile uint32_t ulPortYieldPending __attribute__((used)) = pdFALSE;
+
+/* Counts the interrupt nesting depth.  Used to know when to switch to the
+interrupt/system stack and when to save/restore a complete context. */
+volatile uint32_t ulInterruptNesting __attribute__((used)) = 0;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+uint32_t ulCodeSegment;
+
+	/* Setup the initial stack as expected by the portFREERTOS_INTERRUPT_EXIT macro. */
+
+	*pxTopOfStack = 0x00;
+	pxTopOfStack--;
+	*pxTopOfStack = 0x00;
+	pxTopOfStack--;
+
+	/* Parameters first. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;
+	pxTopOfStack--;
+
+	/* There is nothing to return to so assert if attempting to use the return
+	address. */
+	*pxTopOfStack = ( StackType_t ) prvTaskExitError;
+	pxTopOfStack--;
+
+	/* iret used to start the task pops up to here. */
+	*pxTopOfStack = portINITIAL_EFLAGS;
+	pxTopOfStack--;
+
+	/* CS */
+	__asm volatile( "movl %%cs, %0" : "=r" ( ulCodeSegment ) );
+	*pxTopOfStack = ulCodeSegment;
+	pxTopOfStack--;
+
+	/* First instruction in the task. */
+	*pxTopOfStack = ( StackType_t ) pxCode;
+	pxTopOfStack--;
+
+	/* General purpose registers as expected by a POPA instruction. */
+	*pxTopOfStack = 0xEA;
+	pxTopOfStack--;
+
+	*pxTopOfStack = 0xEC;
+	pxTopOfStack--;
+
+	*pxTopOfStack = 0xED1; /* EDX */
+	pxTopOfStack--;
+
+	*pxTopOfStack = 0xEB1; /* EBX */
+	pxTopOfStack--;
+
+	/* Hole for ESP. */
+	pxTopOfStack--;
+
+	*pxTopOfStack = 0x00; /* EBP */
+	pxTopOfStack--;
+
+	*pxTopOfStack = 0xE5; /* ESI */
+	pxTopOfStack--;
+
+	*pxTopOfStack = 0xeeeeeeee; /* EDI */
+
+	#if ( configSUPPORT_FPU == 1 )
+	{
+		pxTopOfStack--;
+
+		/* Buffer for FPU context, which is initialised to NULL as tasks are not
+		created with an FPU context. */
+		*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+	}
+	#endif /* configSUPPORT_FPU */
+
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetInterruptGate( uint8_t ucNumber, ISR_Handler_t pxHandlerFunction, uint8_t ucFlags )
+{
+uint16_t usCodeSegment;
+uint32_t ulBase = ( uint32_t ) pxHandlerFunction;
+
+	xInterruptDescriptorTable[ ucNumber ].usISRLow = ( uint16_t ) ( ulBase & USHRT_MAX );
+	xInterruptDescriptorTable[ ucNumber ].usISRHigh = ( uint16_t ) ( ( ulBase >> 16UL ) & USHRT_MAX );
+
+	/* When the flat model is used the CS will never change. */
+	__asm volatile( "mov %%cs, %0" : "=r" ( usCodeSegment ) );
+	xInterruptDescriptorTable[ ucNumber ].usSegmentSelector = usCodeSegment;
+	xInterruptDescriptorTable[ ucNumber ].ucZero = 0;
+	xInterruptDescriptorTable[ ucNumber ].ucFlags = ucFlags;
+}
+/*-----------------------------------------------------------*/
+
+void vPortSetupIDT( void )
+{
+uint32_t ulNum;
+IDTPointer_t xIDT;
+
+	#if ( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 )
+	{
+		for( ulNum = 0; ulNum < portNUM_VECTORS; ulNum++ )
+		{
+			/* If a handler has not already been installed on this vector. */
+			if( ( xInterruptDescriptorTable[ ulNum ].usISRLow == 0x00 ) && ( xInterruptDescriptorTable[ ulNum ].usISRHigh == 0x00 ) )
+			{
+				prvSetInterruptGate( ( uint8_t ) ulNum, vPortCentralInterruptWrapper, portIDT_FLAGS );
+			}
+		}
+	}
+	#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */
+
+	/* Set IDT address. */
+	xIDT.ulTableBase = ( uint32_t ) xInterruptDescriptorTable;
+	xIDT.usTableLimit = sizeof( xInterruptDescriptorTable ) - 1;
+
+	/* Set IDT in CPU. */
+	__asm volatile( "lidt %0" :: "m" (xIDT) );
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( ulCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupTimerInterrupt( void )
+{
+extern void vPortAPICErrorHandlerWrapper( void );
+extern void vPortAPICSpuriousHandler( void );
+
+	/* Initialise LAPIC to a well known state. */
+	portAPIC_LDR = 0xFFFFFFFF;
+	portAPIC_LDR = ( ( portAPIC_LDR & 0x00FFFFFF ) | 0x00000001 );
+	portAPIC_LVT_TIMER = portAPIC_DISABLE;
+	portAPIC_LVT_PERF = portAPIC_NMI;
+	portAPIC_LVT_LINT0 = portAPIC_DISABLE;
+	portAPIC_LVT_LINT1 = portAPIC_DISABLE;
+	portAPIC_TASK_PRIORITY = 0;
+
+	/* Install APIC timer ISR vector. */
+	prvSetInterruptGate( ( uint8_t ) portAPIC_TIMER_INT_VECTOR, vPortTimerHandler, portIDT_FLAGS );
+
+	/* Install API error handler. */
+	prvSetInterruptGate( ( uint8_t ) portAPIC_LVT_ERROR_VECTOR, vPortAPICErrorHandlerWrapper, portIDT_FLAGS );
+
+	/* Install Yield handler. */
+	prvSetInterruptGate( ( uint8_t ) portAPIC_YIELD_INT_VECTOR, vPortYieldCall, portIDT_FLAGS );
+
+	/* Install spurious interrupt vector. */
+	prvSetInterruptGate( ( uint8_t ) portAPIC_SPURIOUS_INT_VECTOR, vPortAPICSpuriousHandler, portIDT_FLAGS );
+
+	/* Enable the APIC, mapping the spurious interrupt at the same time. */
+	portAPIC_SPURIOUS_INT = portAPIC_SPURIOUS_INT_VECTOR | portAPIC_ENABLE_BIT;
+
+	/* Set timer error vector. */
+	portAPIC_LVT_ERROR = portAPIC_LVT_ERROR_VECTOR;
+
+	/* Set the interrupt frequency. */
+	portAPIC_TMRDIV = portAPIC_DIV_16;
+	portAPIC_TIMER_INITIAL_COUNT = ( ( configCPU_CLOCK_HZ >> 4UL ) / configTICK_RATE_HZ ) - 1UL;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+BaseType_t xWord;
+
+	/* Some versions of GCC require the -mno-ms-bitfields command line option
+	for packing to work. */
+	configASSERT( sizeof( struct IDTEntry ) == portEXPECTED_IDT_ENTRY_SIZE );
+
+	/* Fill part of the system stack with a known value to help detect stack
+	overflow.  A few zeros are left so GDB doesn't get confused unwinding
+	the stack. */
+	for( xWord = 0; xWord < configISR_STACK_SIZE - 20; xWord++ )
+	{
+		ulSystemStack[ xWord ] = portSTACK_WORD;
+	}
+
+	/* Initialise Interrupt Descriptor Table (IDT). */
+	vPortSetupIDT();
+
+	/* Initialise LAPIC and install system handlers. */
+	prvSetupTimerInterrupt();
+
+	/* Make sure the stack used by interrupts is aligned. */
+	ulTopOfSystemStack &= ~portBYTE_ALIGNMENT_MASK;
+
+	ulCriticalNesting = 0;
+
+	/* Enable LAPIC Counter.*/
+	portAPIC_LVT_TIMER = portAPIC_TIMER_PERIODIC | portAPIC_TIMER_INT_VECTOR;
+
+	/* Sometimes needed. */
+	portAPIC_TMRDIV = portAPIC_DIV_16;
+
+	/* Should not return from the following function as the scheduler will then
+	be executing the tasks. */
+	vPortStartFirstTask();
+
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( ulCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	if( ulCriticalNesting == 0 )
+	{
+		#if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY )
+		{
+			__asm volatile( "cli" );
+		}
+		#else
+		{
+			portAPIC_TASK_PRIORITY = portMAX_API_CALL_PRIORITY;
+			configASSERT( portAPIC_TASK_PRIORITY == portMAX_API_CALL_PRIORITY );
+		}
+		#endif
+	}
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as the critical section is being
+		exited. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then all interrupt
+		priorities must be re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			/* Critical nesting has reached zero so all interrupt priorities
+			should be unmasked. */
+			#if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY )
+			{
+				__asm volatile( "sti" );
+			}
+			#else
+			{
+				portAPIC_TASK_PRIORITY = 0;
+			}
+			#endif
+
+			/* If a yield was pended from within the critical section then
+			perform the yield now. */
+			if( ulPortYieldPending != pdFALSE )
+			{
+				ulPortYieldPending = pdFALSE;
+				__asm volatile( portYIELD_INTERRUPT );
+			}
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulPortSetInterruptMask( void )
+{
+volatile uint32_t ulOriginalMask;
+
+	/* Set mask to max syscall priority. */
+	#if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY )
+	{
+		/* Return whether interrupts were already enabled or not.  Pop adjusts
+		the stack first. */
+		__asm volatile( "pushf		\t\n"
+						"pop %0		\t\n"
+						"cli			"
+						: "=rm" (ulOriginalMask) :: "memory" );
+
+		ulOriginalMask &= portEFLAGS_IF;
+	}
+	#else
+	{
+		/* Return original mask. */
+		ulOriginalMask = portAPIC_TASK_PRIORITY;
+		portAPIC_TASK_PRIORITY = portMAX_API_CALL_PRIORITY;
+		configASSERT( portAPIC_TASK_PRIORITY == portMAX_API_CALL_PRIORITY );
+	}
+	#endif
+
+	return ulOriginalMask;
+}
+/*-----------------------------------------------------------*/
+
+void vPortClearInterruptMask( uint32_t ulNewMaskValue )
+{
+	#if( configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY )
+	{
+		if( ulNewMaskValue != pdFALSE )
+		{
+			__asm volatile( "sti" );
+		}
+	}
+	#else
+	{
+		portAPIC_TASK_PRIORITY = ulNewMaskValue;
+		configASSERT( portAPIC_TASK_PRIORITY == ulNewMaskValue );
+	}
+	#endif
+}
+/*-----------------------------------------------------------*/
+
+#if ( configSUPPORT_FPU == 1 )
+
+	void vPortTaskUsesFPU( void )
+	{
+		/* A task is registering the fact that it needs an FPU context.  Allocate a
+		buffer into which the context can be saved. */
+		pucPortTaskFPUContextBuffer = ( uint8_t * ) pvPortMalloc( portFPU_CONTEXT_SIZE_BYTES );
+		configASSERT( pucPortTaskFPUContextBuffer );
+
+		/* Initialise the floating point registers. */
+		__asm volatile(	"fninit" );
+	}
+
+#endif /* configSUPPORT_FPU */
+/*-----------------------------------------------------------*/
+
+void vPortAPICErrorHandler( void )
+{
+/* Variable to hold the APIC error status for viewing in the debugger. */
+volatile uint32_t ulErrorStatus = 0;
+
+	portAPIC_ERROR_STATUS = 0;
+	ulErrorStatus = portAPIC_ERROR_STATUS;
+	( void ) ulErrorStatus;
+
+	/* Force an assert. */
+	configASSERT( ulCriticalNesting == ~0UL );
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 )
+
+	void vPortCentralInterruptHandler( uint32_t ulVector )
+	{
+		if( ulVector < portNUM_VECTORS )
+		{
+			if( xInterruptHandlerTable[ ulVector ] != NULL )
+			{
+				( xInterruptHandlerTable[ ulVector ] )();
+			}
+		}
+
+		/* Check for a system stack overflow. */
+		configASSERT( ulSystemStack[ 10 ] == portSTACK_WORD );
+		configASSERT( ulSystemStack[ 12 ] == portSTACK_WORD );
+		configASSERT( ulSystemStack[ 14 ] == portSTACK_WORD );
+	}
+
+#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1 )
+
+	BaseType_t xPortRegisterCInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber )
+	{
+	BaseType_t xReturn;
+
+		xReturn = prvCheckValidityOfVectorNumber( ulVectorNumber );
+
+		if( xReturn != pdFAIL )
+		{
+			/* Save the handler passed in by the application in the vector number
+			passed in.  The addresses are then called from the central interrupt
+			handler. */
+			xInterruptHandlerTable[ ulVectorNumber ] = pxHandler;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortInstallInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber )
+{
+BaseType_t xReturn;
+
+	xReturn = prvCheckValidityOfVectorNumber( ulVectorNumber );
+
+	if( xReturn != pdFAIL )
+	{
+		taskENTER_CRITICAL();
+		{
+			/* Update the IDT to include the application defined handler. */
+			prvSetInterruptGate( ( uint8_t ) ulVectorNumber, ( ISR_Handler_t ) pxHandler, portIDT_FLAGS );
+		}
+		taskEXIT_CRITICAL();
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+static BaseType_t prvCheckValidityOfVectorNumber( uint32_t ulVectorNumber )
+{
+BaseType_t xReturn;
+
+	/* Check validity of vector number. */
+	if( ulVectorNumber >= portNUM_VECTORS )
+	{
+		/* Too high. */
+		xReturn = pdFAIL;
+	}
+	else if( ulVectorNumber < portAPIC_MIN_ALLOWABLE_VECTOR )
+	{
+		/* Too low. */
+		xReturn = pdFAIL;
+	}
+	else if( ulVectorNumber == portAPIC_TIMER_INT_VECTOR )
+	{
+		/* In use by FreeRTOS. */
+		xReturn = pdFAIL;
+	}
+	else if( ulVectorNumber == portAPIC_YIELD_INT_VECTOR )
+	{
+		/* In use by FreeRTOS. */
+		xReturn = pdFAIL;
+	}
+	else if( ulVectorNumber == portAPIC_LVT_ERROR_VECTOR )
+	{
+		/* In use by FreeRTOS. */
+		xReturn = pdFAIL;
+	}
+	else if( ulVectorNumber == portAPIC_SPURIOUS_INT_VECTOR )
+	{
+		/* In use by FreeRTOS. */
+		xReturn = pdFAIL;
+	}
+	else if( xInterruptHandlerTable[ ulVectorNumber ] != NULL )
+	{
+		/* Already in use by the application. */
+		xReturn = pdFAIL;
+	}
+	else
+	{
+		xReturn = pdPASS;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vGenerateYieldInterrupt( void )
+{
+	__asm volatile( portYIELD_INTERRUPT );
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+

portable/GCC/IA32_flat/portASM.S

@@ -0,0 +1,274 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+.file "portASM.S"
+#include "FreeRTOSConfig.h"
+#include "ISR_Support.h"
+
+	.extern pxCurrentTCB
+	.extern vTaskSwitchContext
+	.extern vPortCentralInterruptHandler
+	.extern xTaskIncrementTick
+	.extern vPortAPICErrorHandler
+	.extern pucPortTaskFPUContextBuffer
+	.extern ulPortYieldPending
+
+	.global vPortStartFirstTask
+	.global vPortCentralInterruptWrapper
+	.global vPortAPICErrorHandlerWrapper
+	.global vPortTimerHandler
+	.global vPortYieldCall
+	.global vPortAPICSpuriousHandler
+
+	.text
+
+/*-----------------------------------------------------------*/
+
+.align 4
+.func vPortYieldCall
+vPortYieldCall:
+	/* Save general purpose registers. */
+	pusha
+
+	.if configSUPPORT_FPU == 1
+
+		/* If the task has a buffer allocated to save the FPU context then save
+		the FPU context now. */
+		movl	pucPortTaskFPUContextBuffer, %eax
+		test	%eax, %eax
+		je		1f
+		fnsave	( %eax )
+		fwait
+
+		1:
+
+		/* Save the address of the FPU context, if any. */
+		push	pucPortTaskFPUContextBuffer
+
+	.endif /* configSUPPORT_FPU */
+
+	/* Find the TCB. */
+	movl 	pxCurrentTCB, %eax
+
+	/* Stack location is first item in the TCB. */
+	movl	%esp, (%eax)
+
+	call vTaskSwitchContext
+
+	/* Find the location of pxCurrentTCB again - a callee saved register could
+	be used in place of eax to prevent this second load, but that then relies
+	on the compiler and other asm code. */
+	movl 	pxCurrentTCB, %eax
+	movl	(%eax), %esp
+
+	.if configSUPPORT_FPU == 1
+
+		/* Restore address of task's FPU context buffer. */
+		pop 	pucPortTaskFPUContextBuffer
+
+		/* If the task has a buffer allocated in which its FPU context is saved,
+		then restore it now. */
+		movl	pucPortTaskFPUContextBuffer, %eax
+		test	%eax, %eax
+		je		1f
+		frstor	( %eax )
+		1:
+	.endif
+
+	popa
+	iret
+
+.endfunc
+/*-----------------------------------------------------------*/
+
+.align 4
+.func vPortStartFirstTask
+vPortStartFirstTask:
+
+	/* Find the TCB. */
+	movl 	pxCurrentTCB, %eax
+
+	/* Stack location is first item in the TCB. */
+	movl	(%eax), %esp
+
+	/* Restore FPU context flag. */
+	.if configSUPPORT_FPU == 1
+
+		pop 	pucPortTaskFPUContextBuffer
+
+	.endif /* configSUPPORT_FPU */
+
+	/* Restore general purpose registers. */
+	popa
+	iret
+.endfunc
+/*-----------------------------------------------------------*/
+
+.align 4
+.func vPortAPICErrorHandlerWrapper
+vPortAPICErrorHandlerWrapper:
+	pusha
+	call	vPortAPICErrorHandler
+	popa
+	/* EOI. */
+	movl	$0x00, (0xFEE000B0)
+	iret
+.endfunc
+/*-----------------------------------------------------------*/
+
+.align 4
+.func vPortTimerHandler
+vPortTimerHandler:
+
+	/* Save general purpose registers. */
+	pusha
+
+	/* Interrupts are not nested, so save the rest of the task context. */
+	.if configSUPPORT_FPU == 1
+
+		/* If the task has a buffer allocated to save the FPU context then save the
+		FPU context now. */
+		movl	pucPortTaskFPUContextBuffer, %eax
+		test	%eax, %eax
+		je		1f
+		fnsave	( %eax ) /* Save FLOP context into ucTempFPUBuffer array. */
+		fwait
+
+		1:
+		/* Save the address of the FPU context, if any. */
+		push	pucPortTaskFPUContextBuffer
+
+	.endif /* configSUPPORT_FPU */
+
+	/* Find the TCB. */
+	movl 	pxCurrentTCB, %eax
+
+	/* Stack location is first item in the TCB. */
+	movl	%esp, (%eax)
+
+	/* Switch stacks. */
+	movl 	ulTopOfSystemStack, %esp
+	movl	%esp, %ebp
+
+	/* Increment nesting count. */
+	add 	$1, ulInterruptNesting
+
+	call 	xTaskIncrementTick
+
+	sti
+
+	/* Is a switch to another task required? */
+	test	%eax, %eax
+	je		_skip_context_switch
+	cli
+	call	vTaskSwitchContext
+
+_skip_context_switch:
+	cli
+
+	/* Decrement the variable used to determine if a switch to a system
+	stack is necessary. */
+	sub		$1, ulInterruptNesting
+
+	/* Stack location is first item in the TCB. */
+	movl 	pxCurrentTCB, %eax
+	movl	(%eax), %esp
+
+	.if configSUPPORT_FPU == 1
+
+		/* Restore address of task's FPU context buffer. */
+		pop 	pucPortTaskFPUContextBuffer
+
+		/* If the task has a buffer allocated in which its FPU context is saved,
+		then restore it now. */
+		movl	pucPortTaskFPUContextBuffer, %eax
+		test	%eax, %eax
+		je		1f
+		frstor	( %eax )
+		1:
+	.endif
+
+	popa
+
+	/* EOI. */
+	movl	$0x00, (0xFEE000B0)
+	iret
+
+.endfunc
+/*-----------------------------------------------------------*/
+
+.if configUSE_COMMON_INTERRUPT_ENTRY_POINT == 1
+
+	.align 4
+	.func vPortCentralInterruptWrapper
+	vPortCentralInterruptWrapper:
+
+		portFREERTOS_INTERRUPT_ENTRY
+
+		movl $0xFEE00170, %eax 			/* Highest In Service Register (ISR) long word. */
+		movl $8, %ecx					/* Loop counter. */
+
+	next_isr_long_word:
+		test %ecx, %ecx					/* Loop counter reached 0? */
+		je wrapper_epilogue				/* Looked at all ISR registers without finding a bit set. */
+		sub $1, %ecx					/* Sub 1 from loop counter. */
+		movl (%eax), %ebx				/* Load next ISR long word. */
+		sub $0x10, %eax					/* Point to next ISR long word in case no bits are set in the current long word. */
+		test %ebx, %ebx					/* Are there any bits set? */
+		je next_isr_long_word			/* Look at next ISR long word if no bits were set. */
+		sti
+		bsr %ebx, %ebx					/* A bit was set, which one? */
+		movl $32, %eax					/* Destination operand for following multiplication. */
+		mul %ecx						/* Calculate base vector for current register, 32 vectors per register. */
+		add %ebx, %eax					/* Add bit offset into register to get final vector number. */
+		push %eax						/* Vector number is function parameter. */
+		call vPortCentralInterruptHandler
+		pop %eax						/* Remove parameter. */
+
+	wrapper_epilogue:
+		portFREERTOS_INTERRUPT_EXIT
+
+	.endfunc
+
+.endif /* configUSE_COMMON_INTERRUPT_ENTRY_POINT */
+/*-----------------------------------------------------------*/
+
+.align 4
+.func vPortAPISpuriousHandler
+vPortAPICSpuriousHandler:
+	iret
+
+.endfunc
+
+.end
+
+
+
+
+
+
+

portable/GCC/IA32_flat/portmacro.h

@@ -0,0 +1,291 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+	extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the given hardware
+ * and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+typedef uint32_t TickType_t;
+#define portMAX_DELAY ( ( TickType_t ) 0xffffffffUL )
+
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT			32
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+
+/* The interrupt priority (for vectors 16 to 255) is determined using vector/16.
+The quotient is rounded to the nearest integer with 1 being the lowest priority
+and 15 is the highest.  Therefore the following two interrupts are at the lowest
+priority.  *NOTE 1* If the yield vector is changed then it must also be changed
+in the portYIELD_INTERRUPT definition immediately below. */
+#define portAPIC_TIMER_INT_VECTOR 		( 0x21 )
+#define portAPIC_YIELD_INT_VECTOR 		( 0x20 )
+
+/* Build yield interrupt instruction. */
+#define portYIELD_INTERRUPT "int $0x20"
+
+/* APIC register addresses. */
+#define portAPIC_EOI					( *( ( volatile uint32_t * ) 0xFEE000B0UL ) )
+
+/* APIC bit definitions. */
+#define portAPIC_ENABLE_BIT				( 1UL << 8UL )
+#define portAPIC_TIMER_PERIODIC 		( 1UL << 17UL )
+#define portAPIC_DISABLE 				( 1UL << 16UL )
+#define portAPIC_NMI 					( 4 << 8)
+#define portAPIC_DIV_16 				( 0x03 )
+
+/* Define local API register addresses. */
+#define portAPIC_ID_REGISTER			( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x20UL  ) ) )
+#define portAPIC_SPURIOUS_INT			( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0xF0UL  ) ) )
+#define portAPIC_LVT_TIMER				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x320UL ) ) )
+#define portAPIC_TIMER_INITIAL_COUNT	( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x380UL ) ) )
+#define portAPIC_TIMER_CURRENT_COUNT	( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x390UL ) ) )
+#define portAPIC_TASK_PRIORITY			( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x80UL  ) ) )
+#define portAPIC_LVT_ERROR				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x370UL ) ) )
+#define portAPIC_ERROR_STATUS			( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x280UL ) ) )
+#define portAPIC_LDR	 				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0xD0UL  ) ) )
+#define portAPIC_TMRDIV 				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x3E0UL ) ) )
+#define portAPIC_LVT_PERF 				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x340UL ) ) )
+#define portAPIC_LVT_LINT0 				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x350UL ) ) )
+#define portAPIC_LVT_LINT1 				( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0x360UL ) ) )
+
+/* Don't yield if inside a critical section - instead hold the yield pending
+so it is performed when the critical section is exited. */
+#define portYIELD() 								\
+{													\
+extern volatile uint32_t ulCriticalNesting;			\
+extern volatile uint32_t ulPortYieldPending;		\
+	if( ulCriticalNesting != 0 )					\
+	{												\
+		ulPortYieldPending = pdTRUE;				\
+	}												\
+	else											\
+	{												\
+		__asm volatile( portYIELD_INTERRUPT );		\
+	}												\
+}
+
+/* Called at the end of an ISR that can cause a context switch - pend a yield if
+xSwithcRequired is not false. */
+#define portEND_SWITCHING_ISR( xSwitchRequired )	\
+{													\
+extern volatile uint32_t ulPortYieldPending;		\
+	if( xSwitchRequired != pdFALSE )				\
+	{												\
+		ulPortYieldPending = 1; 				 	\
+	}												\
+}
+
+/* Same as portEND_SWITCHING_ISR() - take your pick which name to use. */
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+
+/*-----------------------------------------------------------
+ * Critical section control
+ *----------------------------------------------------------*/
+
+/* Critical sections for use in interrupts. */
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask( x )
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern uint32_t ulPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
+
+/* These macros do not globally disable/enable interrupts.  They do mask off
+interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
+#define portENTER_CRITICAL()		vPortEnterCritical()
+#define portEXIT_CRITICAL()			vPortExitCritical()
+#define portDISABLE_INTERRUPTS()	__asm volatile( "cli" )
+#define portENABLE_INTERRUPTS()		__asm volatile( "sti" )
+
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not required for this port but included in case common demo code that uses these
+macros is used. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )	void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters )	void vFunction( void *pvParameters )
+
+/* Architecture specific optimisations. */
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities )	\
+		__asm volatile(	"bsr %1, %0\n\t" 									\
+						:"=r"(uxTopPriority) : "rm"(uxReadyPriorities) : "cc" )
+
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+#define portNOP() __asm volatile( "NOP" )
+
+/*-----------------------------------------------------------
+ * Misc
+ *----------------------------------------------------------*/
+
+#define portNUM_VECTORS		256
+#define portMAX_PRIORITY	15
+typedef void ( *ISR_Handler_t ) ( void );
+
+/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
+before any floating point instructions are executed. */
+#ifndef configSUPPORT_FPU
+	#define configSUPPORT_FPU 0
+#endif
+
+#if configSUPPORT_FPU == 1
+	void vPortTaskUsesFPU( void );
+	#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
+#endif
+
+/* See the comments under the configUSE_COMMON_INTERRUPT_ENTRY_POINT definition
+below. */
+BaseType_t xPortRegisterCInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber );
+BaseType_t xPortInstallInterruptHandler( ISR_Handler_t pxHandler, uint32_t ulVectorNumber );
+
+#ifndef configAPIC_BASE
+	/* configAPIC_BASE_ADDRESS sets the base address of the local APIC.  It can
+	be overridden in FreeRTOSConfig.h should it not be constant. */
+	#define configAPIC_BASE	0xFEE00000UL
+#endif
+
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	/* The FreeRTOS scheduling algorithm selects the task that will enter the
+	Running state.  configUSE_PORT_OPTIMISED_TASK_SELECTION is used to set how
+	that is done.
+
+	If configUSE_PORT_OPTIMISED_TASK_SELECTION is set to 0 then the task to
+	enter the Running state is selected using a portable algorithm written in
+	C.  This is the slowest method, but the algorithm does not restrict the
+	maximum number of unique RTOS task priorities that are available.
+
+	If configUSE_PORT_OPTIMISED_TASK_SELECTION is set to 1 then the task to
+	enter the Running state is selected using a single assembly instruction.
+	This is the fastest method, but restricts the maximum number of unique RTOS
+	task priorities to 32 (the same task priority can be assigned to any number
+	of RTOS	tasks). */
+	#warning configUSE_PORT_OPTIMISED_TASK_SELECTION was not defined in FreeRTOSConfig.h and has been defaulted to 1
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
+#endif
+
+#ifndef configUSE_COMMON_INTERRUPT_ENTRY_POINT
+	/* There are two ways of implementing interrupt handlers:
+
+		1) As standard C functions -
+
+		This method can only be used if configUSE_COMMON_INTERRUPT_ENTRY_POINT
+		is set to 1.  The C function is installed using
+		xPortRegisterCInterruptHandler().
+
+		This is the simplest of the two methods but incurs a slightly longer
+		interrupt entry time.
+
+		2) By using an assembly stub that wraps the handler in the FreeRTOS
+		   portFREERTOS_INTERRUPT_ENTRY and portFREERTOS_INTERRUPT_EXIT macros.
+
+		This method can always be used.  It is slightly more complex than
+		method 1 but benefits from a faster interrupt entry time. */
+	#warning configUSE_COMMON_INTERRUPT_ENTRY_POINT was not defined in FreeRTOSConfig.h and has been defaulted to 1.
+	#define configUSE_COMMON_INTERRUPT_ENTRY_POINT	1
+#endif
+
+#ifndef configISR_STACK_SIZE
+	/* Interrupt entry code will switch the stack in use to a dedicated system
+	stack.
+
+	configISR_STACK_SIZE defines the number of 32-bit values that can be stored
+	on the system stack, and must be large enough to hold a potentially nested
+	interrupt stack frame. */
+
+	#error configISR_STACK_SIZE was not defined in FreeRTOSConfig.h.
+#endif
+
+#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY
+	/* Interrupt safe FreeRTOS functions (those that end in "FromISR" must not
+	be called from an interrupt that has a priority above that set by
+	configMAX_API_CALL_INTERRUPT_PRIORITY.  */
+	#warning configMAX_API_CALL_INTERRUPT_PRIORITY was not defined in FreeRTOSConfig.h and has been defaulted to 10
+	#define configMAX_API_CALL_INTERRUPT_PRIORITY 10
+#endif
+
+#ifndef configSUPPORT_FPU
+	#warning configSUPPORT_FPU was not defined in FreeRTOSConfig.h and has been defaulted to 0
+	#define configSUPPORT_FPU 0
+#endif
+
+/* The value written to the task priority register to raise the interrupt mask
+to the maximum from which FreeRTOS API calls can be made. */
+#define portAPIC_PRIORITY_SHIFT		( 4UL )
+#define portAPIC_MAX_SUB_PRIORITY	( 0x0fUL )
+#define portMAX_API_CALL_PRIORITY		( ( configMAX_API_CALL_INTERRUPT_PRIORITY << portAPIC_PRIORITY_SHIFT ) | portAPIC_MAX_SUB_PRIORITY )
+
+/* Asserts if interrupt safe FreeRTOS functions are called from a priority
+above the max system call interrupt priority. */
+#define portAPIC_PROCESSOR_PRIORITY	( *( ( volatile uint32_t * ) ( configAPIC_BASE + 0xA0UL  ) ) )
+#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( portAPIC_PROCESSOR_PRIORITY ) <= ( portMAX_API_CALL_PRIORITY ) )
+
+#ifdef __cplusplus
+	} /* extern C */
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/MCF5235/port.c

@@ -0,0 +1,285 @@
+/*
+    FreeRTOS V4.1.1 - Copyright (C) 2003-2006 Richard Barry.
+    MCF5235 Port - Copyright (C) 2006 Christian Walter.
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License** as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    FreeRTOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with FreeRTOS; if not, write to the Free Software
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+    A special exception to the GPL can be applied should you wish to distribute
+    a combined work that includes FreeRTOS, without being obliged to provide
+    the source code for any proprietary components.  See the licensing section
+    of http://www.FreeRTOS.org for full details of how and when the exception
+    can be applied.
+
+    ***************************************************************************
+    ***************************************************************************
+    *                                                                         *
+    * Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *
+	*                                                                         *
+	* This is a concise, step by step, 'hands on' guide that describes both   *
+	* general multitasking concepts and FreeRTOS specifics. It presents and   *
+	* explains numerous examples that are written using the FreeRTOS API.     *
+	* Full source code for all the examples is provided in an accompanying    *
+	* .zip file.                                                              *
+    *                                                                         *
+    ***************************************************************************
+    ***************************************************************************
+
+	Please ensure to read the configuration and relevant port sections of the
+	online documentation.
+
+	http://www.FreeRTOS.org - Documentation, latest information, license and 
+	contact details.
+
+	http://www.SafeRTOS.com - A version that is certified for use in safety 
+	critical systems.
+
+	http://www.OpenRTOS.com - Commercial support, development, porting, 
+	licensing and training services.
+*/
+
+#include <stdlib.h>
+
+#include "FreeRTOS.h"
+#include "FreeRTOSConfig.h"
+#include "task.h"
+
+/* ------------------------ Types ----------------------------------------- */
+typedef volatile uint32_t vuint32;
+typedef volatile uint16_t vuint16;
+typedef volatile uint8_t vuint8;
+
+/* ------------------------ Defines --------------------------------------- */
+#define portVECTOR_TABLE                __RAMVEC
+#define portVECTOR_SYSCALL              ( 32 + portTRAP_YIELD )
+#define portVECTOR_TIMER                ( 64 + 36 )
+
+#define MCF_PIT_PRESCALER               512UL
+#define MCF_PIT_TIMER_TICKS             ( FSYS_2 / MCF_PIT_PRESCALER )
+#define MCF_PIT_MODULUS_REGISTER(freq)  ( MCF_PIT_TIMER_TICKS / ( freq ) - 1UL)
+
+#define MCF_PIT_PMR0                    ( *( vuint16 * )( void * )( &__IPSBAR[ 0x150002 ] ) )
+#define MCF_PIT_PCSR0                   ( *( vuint16 * )( void * )( &__IPSBAR[ 0x150000 ] ) )
+#define MCF_PIT_PCSR_PRE(x)             ( ( ( x ) & 0x000F ) << 8 )
+#define MCF_PIT_PCSR_EN                 ( 0x0001 )
+#define MCF_PIT_PCSR_RLD                ( 0x0002 )
+#define MCF_PIT_PCSR_PIF                ( 0x0004 )
+#define MCF_PIT_PCSR_PIE                ( 0x0008 )
+#define MCF_PIT_PCSR_OVW                ( 0x0010 )
+#define MCF_INTC0_ICR36                 ( *( vuint8 * )( void * )( &__IPSBAR[ 0x000C64 ] ) )
+#define MCF_INTC0_IMRH                  ( *( vuint32 * )( void * )( &__IPSBAR[ 0x000C08 ] ) )
+#define MCF_INTC0_IMRH_INT_MASK36       ( 0x00000010 )
+#define MCF_INTC0_IMRH_MASKALL          ( 0x00000001 )
+#define MCF_INTC0_ICRn_IP(x)            ( ( ( x ) & 0x07 ) << 0 )
+#define MCF_INTC0_ICRn_IL(x)            ( ( ( x ) & 0x07 ) << 3 )
+
+#define portNO_CRITICAL_NESTING         ( ( uint32_t ) 0 )
+#define portINITIAL_CRITICAL_NESTING    ( ( uint32_t ) 10 )
+
+/* ------------------------ Static variables ------------------------------ */
+volatile uint32_t              ulCriticalNesting = portINITIAL_CRITICAL_NESTING;
+
+/* ------------------------ Static functions ------------------------------ */
+#if configUSE_PREEMPTION == 0
+static void prvPortPreemptiveTick ( void ) __attribute__ ((interrupt_handler));
+#else
+static void prvPortPreemptiveTick ( void );
+#endif
+
+/* ------------------------ Start implementation -------------------------- */
+
+StackType_t *
+pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode,
+                       void *pvParameters )
+{
+    /* Place the parameter on the stack in the expected location. */
+    *pxTopOfStack = ( StackType_t ) pvParameters;
+    pxTopOfStack--;
+
+    /* Place dummy return address on stack. Tasks should never terminate so
+     * we can set this to anything. */
+    *pxTopOfStack = ( StackType_t ) 0;
+    pxTopOfStack--;
+
+    /* Create a Motorola Coldfire exception stack frame. First comes the return
+     * address. */
+    *pxTopOfStack = ( StackType_t ) pxCode;
+    pxTopOfStack--;
+
+    /* Format, fault-status, vector number for exception stack frame. Task
+     * run in supervisor mode. */
+    *pxTopOfStack = 0x40002000UL | ( portVECTOR_SYSCALL + 32 ) << 18;
+    pxTopOfStack--;
+
+    /* Set the initial critical section nesting counter to zero. This value
+     * is used to restore the value of ulCriticalNesting. */
+    *pxTopOfStack = 0;
+    *pxTopOfStack--;
+
+    *pxTopOfStack = ( StackType_t ) 0xA6;    /* A6 / FP */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xA5;    /* A5 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xA4;    /* A4 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xA3;    /* A3 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xA2;    /* A2 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xA1;    /* A1 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xA0;    /* A0 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD7;    /* D7 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD6;    /* D6 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD5;    /* D5 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD4;    /* D4 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD3;    /* D3 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD2;    /* D2 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD1;    /* D1 */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) 0xD0;    /* D0 */
+
+    return pxTopOfStack;
+}
+
+/*
+ * Called by portYIELD() or taskYIELD() to manually force a context switch.
+ */
+static void
+prvPortYield( void )
+{
+    asm volatile ( "move.w  #0x2700, %sr\n\t" );
+#if _GCC_USES_FP == 1
+    asm volatile ( "unlk %fp\n\t" );
+#endif
+     /* Perform the context switch.  First save the context of the current task. */
+    portSAVE_CONTEXT(  );
+
+    /* Find the highest priority task that is ready to run. */
+    vTaskSwitchContext(  );
+
+    /* Restore the context of the new task. */
+    portRESTORE_CONTEXT(  );
+}
+
+#if configUSE_PREEMPTION == 0
+/*
+ * The ISR used for the scheduler tick depends on whether the cooperative or
+ * the preemptive scheduler is being used.
+ */
+static void
+prvPortPreemptiveTick ( void )
+{
+    /* The cooperative scheduler requires a normal IRQ service routine to
+     * simply increment the system tick.
+     */
+
+    xTaskIncrementTick();
+    MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIF;
+}
+
+#else
+
+static void
+prvPortPreemptiveTick( void )
+{
+    asm volatile ( "move.w  #0x2700, %sr\n\t" );
+#if _GCC_USES_FP == 1
+    asm volatile ( "unlk %fp\n\t" );
+#endif
+    portSAVE_CONTEXT(  );
+    MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIF;
+    if( xTaskIncrementTick() != pdFALSE )
+	{
+		vTaskSwitchContext(  );
+	}
+    portRESTORE_CONTEXT(  );
+}
+#endif
+
+void
+vPortEnterCritical()
+{
+    /* FIXME: We should store the old IPL here - How are we supposed to do
+     * this.
+     */
+    ( void )portSET_IPL( portIPL_MAX );
+
+    /* Now interrupts are disabled ulCriticalNesting can be accessed
+     * directly.  Increment ulCriticalNesting to keep a count of how many times
+     * portENTER_CRITICAL() has been called. */
+    ulCriticalNesting++;
+}
+
+void
+vPortExitCritical()
+{
+    if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+    {
+        /* Decrement the nesting count as we are leaving a critical section. */
+        ulCriticalNesting--;
+
+        /* If the nesting level has reached zero then interrupts should be
+        re-enabled. */
+        if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+        {
+            ( void )portSET_IPL( 0 );
+        }
+    }
+}
+
+BaseType_t
+xPortStartScheduler( void )
+{
+    extern void     ( *portVECTOR_TABLE[  ] ) (  );
+
+    /* Add entry in vector table for yield system call. */
+    portVECTOR_TABLE[ portVECTOR_SYSCALL ] = prvPortYield;
+    /* Add entry in vector table for periodic timer. */
+    portVECTOR_TABLE[ portVECTOR_TIMER ] = prvPortPreemptiveTick;
+
+    /* Configure the timer for the system clock. */
+    if ( configTICK_RATE_HZ > 0)
+    {
+        /* Configure prescaler */
+        MCF_PIT_PCSR0 = MCF_PIT_PCSR_PRE( 0x9 ) | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_OVW;
+        /* Initialize the periodic timer interrupt. */
+        MCF_PIT_PMR0 = MCF_PIT_MODULUS_REGISTER( configTICK_RATE_HZ );
+        /* Configure interrupt priority and level and unmask interrupt. */
+        MCF_INTC0_ICR36 = MCF_INTC0_ICRn_IL( 0x1 ) | MCF_INTC0_ICRn_IP( 0x1 );
+        MCF_INTC0_IMRH &= ~( MCF_INTC0_IMRH_INT_MASK36 | MCF_INTC0_IMRH_MASKALL );
+        /* Enable interrupts */
+        MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_EN | MCF_PIT_PCSR_PIF;
+    }
+
+    /* Restore the context of the first task that is going to run. */
+    portRESTORE_CONTEXT(  );
+
+    /* Should not get here. */
+    return pdTRUE;
+}
+
+void
+vPortEndScheduler( void )
+{
+}

portable/GCC/MCF5235/portmacro.h

@@ -0,0 +1,182 @@
+/*
+    FreeRTOS V4.1.1 - Copyright (C) 2003-2006 Richard Barry.
+    MCF5235 Port - Copyright (C) 2006 Christian Walter.
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License** as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    FreeRTOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with FreeRTOS; if not, write to the Free Software
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+    A special exception to the GPL can be applied should you wish to distribute
+    a combined work that includes FreeRTOS, without being obliged to provide
+    the source code for any proprietary components.  See the licensing section
+    of http://www.FreeRTOS.org for full details of how and when the exception
+    can be applied.
+
+    ***************************************************************************
+    ***************************************************************************
+    *                                                                         *
+    * Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *
+	*                                                                         *
+	* This is a concise, step by step, 'hands on' guide that describes both   *
+	* general multitasking concepts and FreeRTOS specifics. It presents and   *
+	* explains numerous examples that are written using the FreeRTOS API.     *
+	* Full source code for all the examples is provided in an accompanying    *
+	* .zip file.                                                              *
+    *                                                                         *
+    ***************************************************************************
+    ***************************************************************************
+
+	Please ensure to read the configuration and relevant port sections of the
+	online documentation.
+
+	http://www.FreeRTOS.org - Documentation, latest information, license and
+	contact details.
+
+	http://www.SafeRTOS.com - A version that is certified for use in safety
+	critical systems.
+
+	http://www.OpenRTOS.com - Commercial support, development, porting,
+	licensing and training services.
+*/
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------------------ Data types for Coldfire ----------------------- */
+#define portCHAR        char
+#define portFLOAT       float
+#define portDOUBLE      double
+#define portLONG        long
+#define portSHORT       short
+#define portSTACK_TYPE  unsigned int
+#define portBASE_TYPE   int
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+    typedef uint16_t TickType_t;
+    #define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+    typedef uint32_t TickType_t;
+    #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+
+/* ------------------------ Architecture specifics ------------------------ */
+#define portSTACK_GROWTH                ( -1 )
+#define portTICK_PERIOD_MS                ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT              4
+
+#define portTRAP_YIELD                  0   /* Trap 0 */
+#define portIPL_MAX                     7   /* Only NMI interrupt 7 allowed. */
+
+/* ------------------------ FreeRTOS macros for port ---------------------- */
+
+/*
+ * This function must be called when the current state of the active task
+ * should be stored. It must be called immediately after exception
+ * processing from the CPU, i.e. there exists a Coldfire exception frame at
+ * the current position in the stack. The function reserves space on
+ * the stack for the CPU registers and other task dependent values (e.g
+ * ulCriticalNesting) and updates the top of the stack in the TCB.
+ */
+#define portSAVE_CONTEXT()                                                   \
+    asm volatile ( /* reserve space for task state. */                       \
+                   "lea.l   (-64, %sp), %sp\n\t"                             \
+                   /* push data register %d0-%d7/%a0-%a6 on stack. */        \
+                   "movem.l %d0-%d7/%a0-%a6, (%sp)\n\t"                      \
+                   /* push ulCriticalNesting counter on stack. */            \
+                   "lea.l  (60, %sp), %a0\n\t"                               \
+                   "move.l  ulCriticalNesting, (%a0)\n\t"                    \
+                   /* set the new top of the stack in the TCB. */            \
+                   "move.l  pxCurrentTCB, %a0\n\t"                           \
+                   "move.l  %sp, (%a0)");
+
+/*.
+ * This function restores the current active and continues its execution.
+ * It loads the current TCB and restores the processor registers, the
+ * task dependent values (e.g ulCriticalNesting). Finally execution
+ * is continued by executing an rte instruction.
+ */
+#define portRESTORE_CONTEXT()                                                \
+    asm volatile ( "move.l  pxCurrentTCB, %sp\n\t"                           \
+                   "move.l  (%sp), %sp\n\t"                                  \
+                   /* stack pointer now points to the saved registers. */    \
+                   "movem.l (%sp), %d0-%d7/%a0-%a6\n\t"                      \
+                   /* restore ulCriticalNesting counter from stack. */       \
+                   "lea.l   (%sp, 60), %sp\n\t"                              \
+                   "move.l  (%sp)+, ulCriticalNesting\n\t"                   \
+                   /* stack pointer now points to exception frame. */        \
+                   "rte\n\t" );
+
+#define portENTER_CRITICAL()                                                 \
+    vPortEnterCritical();
+
+#define portEXIT_CRITICAL()                                                  \
+    vPortExitCritical();
+
+#define portSET_IPL( xIPL )                                                  \
+    asm_set_ipl( xIPL )
+
+#define portDISABLE_INTERRUPTS() \
+    do { ( void )portSET_IPL( portIPL_MAX ); } while( 0 )
+#define portENABLE_INTERRUPTS() \
+    do { ( void )portSET_IPL( 0 ); } while( 0 )
+
+#define portYIELD()                                                          \
+    asm volatile ( " trap   %0\n\t" : : "i"(portTRAP_YIELD) )
+
+#define portNOP()                                                            \
+    asm volatile ( "nop\n\t" )
+
+#define portENTER_SWITCHING_ISR()                                            \
+    asm volatile ( "move.w  #0x2700, %sr" );                                 \
+    /* Save the context of the interrupted task. */                          \
+    portSAVE_CONTEXT(  );                                                    \
+    {
+
+#define portEXIT_SWITCHING_ISR( SwitchRequired )                             \
+        /* If a switch is required we call vTaskSwitchContext(). */          \
+        if( SwitchRequired )                                                 \
+        {                                                                    \
+            vTaskSwitchContext(  );                                          \
+        }                                                                    \
+    }                                                                        \
+    portRESTORE_CONTEXT(  );
+
+/* ------------------------ Function prototypes --------------------------- */
+void vPortEnterCritical( void );
+void vPortExitCritical( void );
+int asm_set_ipl( uint32_t int uiNewIPL );
+
+/* ------------------------ Compiler specifics ---------------------------- */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters )                   \
+    void vFunction( void *pvParameters )
+
+#define portTASK_FUNCTION( vFunction, pvParameters )                         \
+    void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* PORTMACRO_H */
+

portable/GCC/MSP430F449/port.c

@@ -0,0 +1,328 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+	Changes from V2.5.2
+		
+	+ usCriticalNesting now has a volatile qualifier.
+*/
+
+/* Standard includes. */
+#include <stdlib.h>
+#include <signal.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the MSP430 port.
+ *----------------------------------------------------------*/
+
+/* Constants required for hardware setup.  The tick ISR runs off the ACLK, 
+not the MCLK. */
+#define portACLK_FREQUENCY_HZ			( ( TickType_t ) 32768 )
+#define portINITIAL_CRITICAL_NESTING	( ( uint16_t ) 10 )
+#define portFLAGS_INT_ENABLED	( ( StackType_t ) 0x08 )
+
+/* We require the address of the pxCurrentTCB variable, but don't want to know
+any details of its type. */
+typedef void TCB_t;
+extern volatile TCB_t * volatile pxCurrentTCB;
+
+/* Most ports implement critical sections by placing the interrupt flags on
+the stack before disabling interrupts.  Exiting the critical section is then
+simply a case of popping the flags from the stack.  As mspgcc does not use
+a frame pointer this cannot be done as modifying the stack will clobber all
+the stack variables.  Instead each task maintains a count of the critical
+section nesting depth.  Each time a critical section is entered the count is
+incremented.  Each time a critical section is left the count is decremented -
+with interrupts only being re-enabled if the count is zero.
+
+usCriticalNesting will get set to zero when the scheduler starts, but must
+not be initialised to zero as this will cause problems during the startup
+sequence. */
+volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
+/*-----------------------------------------------------------*/
+
+/* 
+ * Macro to save a task context to the task stack.  This simply pushes all the 
+ * general purpose msp430 registers onto the stack, followed by the 
+ * usCriticalNesting value used by the task.  Finally the resultant stack 
+ * pointer value is saved into the task control block so it can be retrieved 
+ * the next time the task executes.
+ */
+#define portSAVE_CONTEXT()									\
+	asm volatile (	"push	r4						\n\t"	\
+					"push	r5						\n\t"	\
+					"push	r6						\n\t"	\
+					"push	r7						\n\t"	\
+					"push	r8						\n\t"	\
+					"push	r9						\n\t"	\
+					"push	r10						\n\t"	\
+					"push	r11						\n\t"	\
+					"push	r12						\n\t"	\
+					"push	r13						\n\t"	\
+					"push	r14						\n\t"	\
+					"push	r15						\n\t"	\
+					"mov.w	usCriticalNesting, r14	\n\t"	\
+					"push	r14						\n\t"	\
+					"mov.w	pxCurrentTCB, r12		\n\t"	\
+					"mov.w	r1, @r12				\n\t"	\
+				);
+
+/* 
+ * Macro to restore a task context from the task stack.  This is effectively
+ * the reverse of portSAVE_CONTEXT().  First the stack pointer value is
+ * loaded from the task control block.  Next the value for usCriticalNesting
+ * used by the task is retrieved from the stack - followed by the value of all
+ * the general purpose msp430 registers.
+ *
+ * The bic instruction ensures there are no low power bits set in the status
+ * register that is about to be popped from the stack.
+ */
+#define portRESTORE_CONTEXT()								\
+	asm volatile (	"mov.w	pxCurrentTCB, r12		\n\t"	\
+					"mov.w	@r12, r1				\n\t"	\
+					"pop	r15						\n\t"	\
+					"mov.w	r15, usCriticalNesting	\n\t"	\
+					"pop	r15						\n\t"	\
+					"pop	r14						\n\t"	\
+					"pop	r13						\n\t"	\
+					"pop	r12						\n\t"	\
+					"pop	r11						\n\t"	\
+					"pop	r10						\n\t"	\
+					"pop	r9						\n\t"	\
+					"pop	r8						\n\t"	\
+					"pop	r7						\n\t"	\
+					"pop	r6						\n\t"	\
+					"pop	r5						\n\t"	\
+					"pop	r4						\n\t"	\
+					"bic	#(0xf0),0(r1)			\n\t"	\
+					"reti							\n\t"	\
+				);
+/*-----------------------------------------------------------*/
+
+/*
+ * Sets up the periodic ISR used for the RTOS tick.  This uses timer 0, but
+ * could have alternatively used the watchdog timer or timer 1.
+ */
+static void prvSetupTimerInterrupt( void );
+/*-----------------------------------------------------------*/
+
+/* 
+ * Initialise the stack of a task to look exactly as if a call to 
+ * portSAVE_CONTEXT had been called.
+ * 
+ * See the header file portable.h.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	/* 
+		Place a few bytes of known values on the bottom of the stack. 
+		This is just useful for debugging and can be included if required.
+
+		*pxTopOfStack = ( StackType_t ) 0x1111;
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x2222;
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x3333;
+		pxTopOfStack--; 
+	*/
+
+	/* The msp430 automatically pushes the PC then SR onto the stack before 
+	executing an ISR.  We want the stack to look just as if this has happened
+	so place a pointer to the start of the task on the stack first - followed
+	by the flags we want the task to use when it starts up. */
+	*pxTopOfStack = ( StackType_t ) pxCode;
+	pxTopOfStack--;
+	*pxTopOfStack = portFLAGS_INT_ENABLED;
+	pxTopOfStack--;
+
+	/* Next the general purpose registers. */
+	*pxTopOfStack = ( StackType_t ) 0x4444;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x5555;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x6666;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x7777;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x8888;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x9999;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0xaaaa;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0xbbbb;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0xcccc;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0xdddd;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0xeeee;
+	pxTopOfStack--;
+
+	/* When the task starts is will expect to find the function parameter in
+	R15. */
+	*pxTopOfStack = ( StackType_t ) pvParameters;
+	pxTopOfStack--;
+
+	/* The code generated by the mspgcc compiler does not maintain separate
+	stack and frame pointers. The portENTER_CRITICAL macro cannot therefore
+	use the stack as per other ports.  Instead a variable is used to keep
+	track of the critical section nesting.  This variable has to be stored
+	as part of the task context and is initially set to zero. */
+	*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;	
+
+	/* Return a pointer to the top of the stack we have generated so this can
+	be stored in the task control block for the task. */
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+	/* Setup the hardware to generate the tick.  Interrupts are disabled when
+	this function is called. */
+	prvSetupTimerInterrupt();
+
+	/* Restore the context of the first task that is going to run. */
+	portRESTORE_CONTEXT();
+
+	/* Should not get here as the tasks are now running! */
+	return pdTRUE;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the MSP430 port will get stopped.  If required simply
+	disable the tick interrupt here. */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Manual context switch called by portYIELD or taskYIELD.  
+ *
+ * The first thing we do is save the registers so we can use a naked attribute.
+ */
+void vPortYield( void ) __attribute__ ( ( naked ) );
+void vPortYield( void )
+{
+	/* We want the stack of the task being saved to look exactly as if the task
+	was saved during a pre-emptive RTOS tick ISR.  Before calling an ISR the 
+	msp430 places the status register onto the stack.  As this is a function 
+	call and not an ISR we have to do this manually. */
+	asm volatile ( "push	r2" );
+	_DINT();
+
+	/* Save the context of the current task. */
+	portSAVE_CONTEXT();
+
+	/* Switch to the highest priority task that is ready to run. */
+	vTaskSwitchContext();
+
+	/* Restore the context of the new task. */
+	portRESTORE_CONTEXT();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Hardware initialisation to generate the RTOS tick.  This uses timer 0
+ * but could alternatively use the watchdog timer or timer 1. 
+ */
+static void prvSetupTimerInterrupt( void )
+{
+	/* Ensure the timer is stopped. */
+	TACTL = 0;
+
+	/* Run the timer of the ACLK. */
+	TACTL = TASSEL_1;
+
+	/* Clear everything to start with. */
+	TACTL |= TACLR;
+
+	/* Set the compare match value according to the tick rate we want. */
+	TACCR0 = portACLK_FREQUENCY_HZ / configTICK_RATE_HZ;
+
+	/* Enable the interrupts. */
+	TACCTL0 = CCIE;
+
+	/* Start up clean. */
+	TACTL |= TACLR;
+
+	/* Up mode. */
+	TACTL |= MC_1;
+}
+/*-----------------------------------------------------------*/
+
+/* 
+ * The interrupt service routine used depends on whether the pre-emptive
+ * scheduler is being used or not.
+ */
+
+#if configUSE_PREEMPTION == 1
+
+	/*
+	 * Tick ISR for preemptive scheduler.  We can use a naked attribute as
+	 * the context is saved at the start of vPortYieldFromTick().  The tick
+	 * count is incremented after the context is saved.
+	 */
+	interrupt (TIMERA0_VECTOR) prvTickISR( void ) __attribute__ ( ( naked ) );
+	interrupt (TIMERA0_VECTOR) prvTickISR( void )
+	{
+		/* Save the context of the interrupted task. */
+		portSAVE_CONTEXT();
+
+		/* Increment the tick count then switch to the highest priority task
+		that is ready to run. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			vTaskSwitchContext();
+		}
+
+		/* Restore the context of the new task. */
+		portRESTORE_CONTEXT();
+	}
+
+#else
+
+	/*
+	 * Tick ISR for the cooperative scheduler.  All this does is increment the
+	 * tick count.  We don't need to switch context, this can only be done by
+	 * manual calls to taskYIELD();
+	 */
+	interrupt (TIMERA0_VECTOR) prvTickISR( void );
+	interrupt (TIMERA0_VECTOR) prvTickISR( void )
+	{
+		xTaskIncrementTick();
+	}
+#endif
+
+
+	

portable/GCC/MSP430F449/portmacro.h

@@ -0,0 +1,127 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		int
+#define portSTACK_TYPE	uint16_t
+#define portBASE_TYPE	short
+
+typedef portSTACK_TYPE StackType_t;
+typedef short BaseType_t;
+typedef unsigned short UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+#endif
+/*-----------------------------------------------------------*/
+
+/* Interrupt control macros. */
+#define portDISABLE_INTERRUPTS()	asm volatile ( "DINT" ); asm volatile ( "NOP" )
+#define portENABLE_INTERRUPTS()		asm volatile ( "EINT" ); asm volatile ( "NOP" )
+/*-----------------------------------------------------------*/
+
+/* Critical section control macros. */
+#define portNO_CRITICAL_SECTION_NESTING		( ( uint16_t ) 0 )
+
+#define portENTER_CRITICAL()													\
+{																				\
+extern volatile uint16_t usCriticalNesting;							\
+																				\
+	portDISABLE_INTERRUPTS();													\
+																				\
+	/* Now interrupts are disabled ulCriticalNesting can be accessed */			\
+	/* directly.  Increment ulCriticalNesting to keep a count of how many */	\
+	/* times portENTER_CRITICAL() has been called. */							\
+	usCriticalNesting++;														\
+}
+
+#define portEXIT_CRITICAL()														\
+{																				\
+extern volatile uint16_t usCriticalNesting;							\
+																				\
+	if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING )					\
+	{																			\
+		/* Decrement the nesting count as we are leaving a critical section. */	\
+		usCriticalNesting--;													\
+																				\
+		/* If the nesting level has reached zero then interrupts should be */	\
+		/* re-enabled. */														\
+		if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING )				\
+		{																		\
+			portENABLE_INTERRUPTS();											\
+		}																		\
+	}																			\
+}
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+extern void vPortYield( void ) __attribute__ ( ( naked ) );
+#define portYIELD()			vPortYield()
+#define portNOP()			asm volatile ( "NOP" )
+/*-----------------------------------------------------------*/
+
+/* Hardwware specifics. */
+#define portBYTE_ALIGNMENT			2
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/MicroBlaze/port.c

@@ -0,0 +1,333 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the MicroBlaze port.
+ *----------------------------------------------------------*/
+
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Standard includes. */
+#include <string.h>
+
+/* Hardware includes. */
+#include <xintc.h>
+#include <xintc_i.h>
+#include <xtmrctr.h>
+
+#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
+	#error configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 to use this port.
+#endif
+
+/* Tasks are started with interrupts enabled. */
+#define portINITIAL_MSR_STATE		( ( StackType_t ) 0x02 )
+
+/* Tasks are started with a critical section nesting of 0 - however prior
+to the scheduler being commenced we don't want the critical nesting level
+to reach zero, so it is initialised to a high value. */
+#define portINITIAL_NESTING_VALUE	( 0xff )
+
+/* Our hardware setup only uses one counter. */
+#define portCOUNTER_0 				0
+
+/* The stack used by the ISR is filled with a known value to assist in
+debugging. */
+#define portISR_STACK_FILL_VALUE	0x55555555
+
+/* Counts the nesting depth of calls to portENTER_CRITICAL().  Each task
+maintains it's own count, so this variable is saved as part of the task
+context. */
+volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE;
+
+/* To limit the amount of stack required by each task, this port uses a
+separate stack for interrupts. */
+uint32_t *pulISRStack;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Sets up the periodic ISR used for the RTOS tick.  This uses timer 0, but
+ * could have alternatively used the watchdog timer or timer 1.
+ */
+static void prvSetupTimerInterrupt( void );
+/*-----------------------------------------------------------*/
+
+/*
+ * Initialise the stack of a task to look exactly as if a call to
+ * portSAVE_CONTEXT had been made.
+ *
+ * See the header file portable.h.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+extern void *_SDA2_BASE_, *_SDA_BASE_;
+const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_;
+const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_;
+
+	/* Place a few bytes of known values on the bottom of the stack.
+	This is essential for the Microblaze port and these lines must
+	not be omitted.  The parameter value will overwrite the
+	0x22222222 value during the function prologue. */
+	*pxTopOfStack = ( StackType_t ) 0x11111111;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x22222222;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x33333333;
+	pxTopOfStack--;
+
+	/* First stack an initial value for the critical section nesting.  This
+	is initialised to zero as tasks are started with interrupts enabled. */
+	*pxTopOfStack = ( StackType_t ) 0x00;	/* R0. */
+
+	/* Place an initial value for all the general purpose registers. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) ulR2;	/* R2 - small data area. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x03;	/* R3. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x04;	/* R4. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x06;	/* R6. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x07;	/* R7. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x08;	/* R8. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x09;	/* R9. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x0a;	/* R10. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x0b;	/* R11. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x0c;	/* R12. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) ulR13;	/* R13 - small data read write area. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pxCode;	/* R14. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x0f;	/* R15. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x10;	/* R16. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x11;	/* R17. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x12;	/* R18. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x13;	/* R19. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x14;	/* R20. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x15;	/* R21. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x16;	/* R22. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x17;	/* R23. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x18;	/* R24. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x19;	/* R25. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x1a;	/* R26. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x1b;	/* R27. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x1c;	/* R28. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x1d;	/* R29. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x1e;	/* R30. */
+	pxTopOfStack--;
+
+	/* The MSR is stacked between R30 and R31. */
+	*pxTopOfStack = portINITIAL_MSR_STATE;
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( StackType_t ) 0x1f;	/* R31. */
+	pxTopOfStack--;
+
+	/* Return a pointer to the top of the stack we have generated so this can
+	be stored in the task control block for the task. */
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+extern void ( __FreeRTOS_interrupt_Handler )( void );
+extern void ( vStartFirstTask )( void );
+
+
+	/* Setup the FreeRTOS interrupt handler.  Code copied from crt0.s. */
+	asm volatile ( 	"la	r6, r0, __FreeRTOS_interrupt_handler		\n\t" \
+					"sw	r6, r1, r0									\n\t" \
+					"lhu r7, r1, r0									\n\t" \
+					"shi r7, r0, 0x12								\n\t" \
+					"shi r6, r0, 0x16 " );
+
+	/* Setup the hardware to generate the tick.  Interrupts are disabled when
+	this function is called. */
+	prvSetupTimerInterrupt();
+
+	/* Allocate the stack to be used by the interrupt handler. */
+	pulISRStack = ( uint32_t * ) pvPortMalloc( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) );
+
+	/* Restore the context of the first task that is going to run. */
+	if( pulISRStack != NULL )
+	{
+		/* Fill the ISR stack with a known value to facilitate debugging. */
+		memset( pulISRStack, portISR_STACK_FILL_VALUE, configMINIMAL_STACK_SIZE * sizeof( StackType_t ) );
+		pulISRStack += ( configMINIMAL_STACK_SIZE - 1 );
+
+		/* Kick off the first task. */
+		vStartFirstTask();
+	}
+
+	/* Should not get here as the tasks are now running! */
+	return pdFALSE;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented. */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Manual context switch called by portYIELD or taskYIELD.
+ */
+void vPortYield( void )
+{
+extern void VPortYieldASM( void );
+
+	/* Perform the context switch in a critical section to assure it is
+	not interrupted by the tick ISR.  It is not a problem to do this as
+	each task maintains it's own interrupt status. */
+	portENTER_CRITICAL();
+		/* Jump directly to the yield function to ensure there is no
+		compiler generated prologue code. */
+		asm volatile (	"bralid r14, VPortYieldASM		\n\t" \
+						"or r0, r0, r0					\n\t" );
+	portEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Hardware initialisation to generate the RTOS tick.
+ */
+static void prvSetupTimerInterrupt( void )
+{
+XTmrCtr xTimer;
+const uint32_t ulCounterValue = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
+UBaseType_t uxMask;
+
+	/* The OPB timer1 is used to generate the tick.  Use the provided library
+	functions to enable the timer and set the tick frequency. */
+	XTmrCtr_mDisable( XPAR_OPB_TIMER_1_BASEADDR, XPAR_OPB_TIMER_1_DEVICE_ID );
+	XTmrCtr_Initialize( &xTimer, XPAR_OPB_TIMER_1_DEVICE_ID );
+   	XTmrCtr_mSetLoadReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, ulCounterValue );
+	XTmrCtr_mSetControlStatusReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, XTC_CSR_LOAD_MASK | XTC_CSR_INT_OCCURED_MASK );
+
+	/* Set the timer interrupt enable bit while maintaining the other bit
+	states. */
+	uxMask = XIntc_In32( ( XPAR_OPB_INTC_0_BASEADDR + XIN_IER_OFFSET ) );
+	uxMask |= XPAR_OPB_TIMER_1_INTERRUPT_MASK;
+	XIntc_Out32( ( XPAR_OPB_INTC_0_BASEADDR + XIN_IER_OFFSET ), ( uxMask ) );
+
+	XTmrCtr_Start( &xTimer, XPAR_OPB_TIMER_1_DEVICE_ID );
+	XTmrCtr_mSetControlStatusReg(XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, XTC_CSR_ENABLE_TMR_MASK | XTC_CSR_ENABLE_INT_MASK | XTC_CSR_AUTO_RELOAD_MASK | XTC_CSR_DOWN_COUNT_MASK | XTC_CSR_INT_OCCURED_MASK );
+	XIntc_mAckIntr( XPAR_INTC_SINGLE_BASEADDR, 1 );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * The interrupt handler placed in the interrupt vector when the scheduler is
+ * started.  The task context has already been saved when this is called.
+ * This handler determines the interrupt source and calls the relevant
+ * peripheral handler.
+ */
+void vTaskISRHandler( void )
+{
+static uint32_t ulPending;
+
+	/* Which interrupts are pending? */
+	ulPending = XIntc_In32( ( XPAR_INTC_SINGLE_BASEADDR + XIN_IVR_OFFSET ) );
+
+	if( ulPending < XPAR_INTC_MAX_NUM_INTR_INPUTS )
+	{
+		static XIntc_VectorTableEntry *pxTablePtr;
+		static XIntc_Config *pxConfig;
+		static uint32_t ulInterruptMask;
+
+		ulInterruptMask = ( uint32_t ) 1 << ulPending;
+
+		/* Get the configuration data using the device ID */
+		pxConfig = &XIntc_ConfigTable[ ( uint32_t ) XPAR_INTC_SINGLE_DEVICE_ID ];
+
+		pxTablePtr = &( pxConfig->HandlerTable[ ulPending ] );
+		if( pxConfig->AckBeforeService & ( ulInterruptMask  ) )
+		{
+			XIntc_mAckIntr( pxConfig->BaseAddress, ulInterruptMask );
+			pxTablePtr->Handler( pxTablePtr->CallBackRef );
+		}
+		else
+		{
+			pxTablePtr->Handler( pxTablePtr->CallBackRef );
+			XIntc_mAckIntr( pxConfig->BaseAddress, ulInterruptMask );
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Handler for the timer interrupt.
+ */
+void vTickISR( void *pvBaseAddress )
+{
+uint32_t ulCSR;
+
+	/* Increment the RTOS tick - this might cause a task to unblock. */
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		vTaskSwitchContext();
+	}
+
+	/* Clear the timer interrupt */
+	ulCSR = XTmrCtr_mGetControlStatusReg(XPAR_OPB_TIMER_1_BASEADDR, 0);
+	XTmrCtr_mSetControlStatusReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, ulCSR );
+}
+/*-----------------------------------------------------------*/
+
+
+
+
+

portable/GCC/MicroBlaze/portasm.s

@@ -0,0 +1,197 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+	.extern pxCurrentTCB
+	.extern vTaskISRHandler
+	.extern vTaskSwitchContext
+	.extern uxCriticalNesting
+	.extern pulISRStack
+
+	.global __FreeRTOS_interrupt_handler
+	.global VPortYieldASM
+	.global vStartFirstTask
+
+
+.macro portSAVE_CONTEXT
+	/* Make room for the context on the stack. */
+	addik r1, r1, -132
+	/* Save r31 so it can then be used. */
+	swi r31, r1, 4
+	/* Copy the msr into r31 - this is stacked later. */
+	mfs r31, rmsr
+	/* Stack general registers. */
+	swi r30, r1, 12
+	swi r29, r1, 16
+	swi r28, r1, 20
+	swi r27, r1, 24
+	swi r26, r1, 28
+	swi r25, r1, 32
+	swi r24, r1, 36
+	swi r23, r1, 40
+	swi r22, r1, 44
+	swi r21, r1, 48
+	swi r20, r1, 52
+	swi r19, r1, 56
+	swi r18, r1, 60
+	swi r17, r1, 64
+	swi r16, r1, 68
+	swi r15, r1, 72
+	swi r13, r1, 80
+	swi r12, r1, 84
+	swi r11, r1, 88
+	swi r10, r1, 92
+	swi r9, r1, 96
+	swi r8, r1, 100
+	swi r7, r1, 104
+	swi r6, r1, 108
+	swi r5, r1, 112
+	swi r4, r1, 116
+	swi r3, r1, 120
+	swi r2, r1, 124
+	/* Stack the critical section nesting value. */
+	lwi r3, r0, uxCriticalNesting
+	swi r3, r1, 128
+	/* Save the top of stack value to the TCB. */
+	lwi r3, r0, pxCurrentTCB
+	sw	r1, r0, r3
+	
+	.endm
+
+.macro portRESTORE_CONTEXT
+	/* Load the top of stack value from the TCB. */
+	lwi r3, r0, pxCurrentTCB
+	lw	r1, r0, r3	
+	/* Restore the general registers. */
+	lwi r31, r1, 4		
+	lwi r30, r1, 12		
+	lwi r29, r1, 16	
+	lwi r28, r1, 20	
+	lwi r27, r1, 24	
+	lwi r26, r1, 28	
+	lwi r25, r1, 32	
+	lwi r24, r1, 36	
+	lwi r23, r1, 40	
+	lwi r22, r1, 44	
+	lwi r21, r1, 48	
+	lwi r20, r1, 52	
+	lwi r19, r1, 56	
+	lwi r18, r1, 60	
+	lwi r17, r1, 64	
+	lwi r16, r1, 68	
+	lwi r15, r1, 72	
+	lwi r14, r1, 76	
+	lwi r13, r1, 80	
+	lwi r12, r1, 84	
+	lwi r11, r1, 88	
+	lwi r10, r1, 92	
+	lwi r9, r1, 96	
+	lwi r8, r1, 100	
+	lwi r7, r1, 104
+	lwi r6, r1, 108
+	lwi r5, r1, 112
+	lwi r4, r1, 116
+	lwi r2, r1, 124
+
+	/* Load the critical nesting value. */
+	lwi r3, r1, 128
+	swi r3, r0, uxCriticalNesting
+
+	/* Obtain the MSR value from the stack. */
+	lwi r3, r1, 8
+
+	/* Are interrupts enabled in the MSR?  If so return using an return from 
+	interrupt instruction to ensure interrupts are enabled only once the task
+	is running again. */
+	andi r3, r3, 2
+	beqid r3, 36
+	or r0, r0, r0
+
+	/* Reload the rmsr from the stack, clear the enable interrupt bit in the
+	value before saving back to rmsr register, then return enabling interrupts
+	as we return. */
+	lwi r3, r1, 8
+	andi r3, r3, ~2
+	mts rmsr, r3
+	lwi r3, r1, 120
+	addik r1, r1, 132
+	rtid r14, 0
+	or r0, r0, r0
+
+	/* Reload the rmsr from the stack, place it in the rmsr register, and
+	return without enabling interrupts. */
+	lwi r3, r1, 8
+	mts rmsr, r3
+	lwi r3, r1, 120
+	addik r1, r1, 132
+	rtsd r14, 0
+	or r0, r0, r0
+
+	.endm
+
+	.text
+	.align  2
+
+
+__FreeRTOS_interrupt_handler:
+	portSAVE_CONTEXT
+	/* Entered via an interrupt so interrupts must be enabled in msr. */
+	ori r31, r31, 2
+	/* Stack msr. */
+	swi r31, r1, 8
+	/* Stack the return address.  As we entered via an interrupt we do
+	not need to modify the return address prior to stacking. */
+	swi r14, r1, 76
+	/* Now switch to use the ISR stack. */
+	lwi r3, r0, pulISRStack
+	add r1, r3, r0
+	bralid r15, vTaskISRHandler
+	or r0, r0, r0
+	portRESTORE_CONTEXT
+
+
+VPortYieldASM:
+	portSAVE_CONTEXT
+	/* Stack msr. */
+	swi r31, r1, 8
+	/* Modify the return address so we return to the instruction after the
+	exception. */
+	addi r14, r14, 8
+	swi r14, r1, 76
+	/* Now switch to use the ISR stack. */
+	lwi r3, r0, pulISRStack
+	add r1, r3, r0
+	bralid r15, vTaskSwitchContext
+	or r0, r0, r0
+	portRESTORE_CONTEXT
+
+vStartFirstTask:
+	portRESTORE_CONTEXT
+	
+	
+
+
+
+

portable/GCC/MicroBlaze/portmacro.h

@@ -0,0 +1,126 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR		char
+#define portFLOAT		float
+#define portDOUBLE		double
+#define portLONG		long
+#define portSHORT		short
+#define portSTACK_TYPE	uint32_t
+#define portBASE_TYPE	long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+
+#if( configUSE_16_BIT_TICKS == 1 )
+	typedef uint16_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffff
+#else
+	typedef uint32_t TickType_t;
+	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+
+	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+	not need to be guarded with a critical section. */
+	#define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Interrupt control macros. */
+void microblaze_disable_interrupts( void );
+void microblaze_enable_interrupts( void );
+#define portDISABLE_INTERRUPTS()	microblaze_disable_interrupts()
+#define portENABLE_INTERRUPTS()		microblaze_enable_interrupts()
+/*-----------------------------------------------------------*/
+
+/* Critical section macros. */
+void vPortEnterCritical( void );
+void vPortExitCritical( void );
+#define portENTER_CRITICAL()		{														\
+										extern UBaseType_t uxCriticalNesting;	\
+										microblaze_disable_interrupts();					\
+										uxCriticalNesting++;								\
+									}
+
+#define portEXIT_CRITICAL()			{														\
+										extern UBaseType_t uxCriticalNesting;	\
+										/* Interrupts are disabled, so we can */			\
+										/* access the variable directly. */					\
+										uxCriticalNesting--;								\
+										if( uxCriticalNesting == 0 )			\
+										{													\
+											/* The nesting has unwound and we 				\
+											can enable interrupts again. */					\
+											portENABLE_INTERRUPTS();						\
+										}													\
+									}
+
+/*-----------------------------------------------------------*/
+
+/* Task utilities. */
+void vPortYield( void );
+#define portYIELD() vPortYield()
+
+void vTaskSwitchContext();
+#define portYIELD_FROM_ISR() vTaskSwitchContext()
+/*-----------------------------------------------------------*/
+
+/* Hardware specifics. */
+#define portBYTE_ALIGNMENT			4
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portNOP()					asm volatile ( "NOP" )
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+

portable/GCC/MicroBlazeV8/port.c

@@ -0,0 +1,452 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the MicroBlaze port.
+ *----------------------------------------------------------*/
+
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Standard includes. */
+#include <string.h>
+
+/* Hardware includes. */
+#include <xintc_i.h>
+#include <xil_exception.h>
+#include <microblaze_exceptions_g.h>
+
+/* Tasks are started with a critical section nesting of 0 - however, prior to
+the scheduler being commenced interrupts should not be enabled, so the critical
+nesting variable is initialised to a non-zero value. */
+#define portINITIAL_NESTING_VALUE	( 0xff )
+
+/* The bit within the MSR register that enabled/disables interrupts and 
+exceptions respectively. */
+#define portMSR_IE					( 0x02U )
+#define portMSR_EE					( 0x100U )
+
+/* If the floating point unit is included in the MicroBlaze build, then the
+FSR register is saved as part of the task context.  portINITIAL_FSR is the value
+given to the FSR register when the initial context is set up for a task being
+created. */
+#define portINITIAL_FSR				( 0U )
+/*-----------------------------------------------------------*/
+
+/*
+ * Initialise the interrupt controller instance.
+ */
+static int32_t prvInitialiseInterruptController( void );
+
+/* Ensure the interrupt controller instance variable is initialised before it is
+ * used, and that the initialisation only happens once.
+ */
+static int32_t prvEnsureInterruptControllerIsInitialised( void );
+
+/*-----------------------------------------------------------*/
+
+/* Counts the nesting depth of calls to portENTER_CRITICAL().  Each task
+maintains its own count, so this variable is saved as part of the task
+context. */
+volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE;
+
+/* This port uses a separate stack for interrupts.  This prevents the stack of
+every task needing to be large enough to hold an entire interrupt stack on top
+of the task stack. */
+uint32_t *pulISRStack;
+
+/* If an interrupt requests a context switch, then ulTaskSwitchRequested will
+get set to 1.  ulTaskSwitchRequested is inspected just before the main interrupt
+handler exits.  If, at that time, ulTaskSwitchRequested is set to 1, the kernel
+will call vTaskSwitchContext() to ensure the task that runs immediately after
+the interrupt exists is the highest priority task that is able to run.  This is
+an unusual mechanism, but is used for this port because a single interrupt can
+cause the servicing of multiple peripherals - and it is inefficient to call
+vTaskSwitchContext() multiple times as each peripheral is serviced. */
+volatile uint32_t ulTaskSwitchRequested = 0UL;
+
+/* The instance of the interrupt controller used by this port.  This is required
+by the Xilinx library API functions. */
+static XIntc xInterruptControllerInstance;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Initialise the stack of a task to look exactly as if a call to
+ * portSAVE_CONTEXT had been made.
+ *
+ * See the portable.h header file.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+extern void *_SDA2_BASE_, *_SDA_BASE_;
+const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_;
+const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_;
+
+	/* Place a few bytes of known values on the bottom of the stack.
+	This is essential for the Microblaze port and these lines must
+	not be omitted. */
+	*pxTopOfStack = ( StackType_t ) 0x00000000;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x00000000;
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x00000000;
+	pxTopOfStack--;
+
+	#if( XPAR_MICROBLAZE_USE_FPU != 0 )
+		/* The FSR value placed in the initial task context is just 0. */
+		*pxTopOfStack = portINITIAL_FSR;
+		pxTopOfStack--;
+	#endif
+
+	/* The MSR value placed in the initial task context should have interrupts
+	disabled.  Each task will enable interrupts automatically when it enters
+	the running state for the first time. */
+	*pxTopOfStack = mfmsr() & ~portMSR_IE;
+	
+	#if( MICROBLAZE_EXCEPTIONS_ENABLED == 1 )
+	{
+		/* Ensure exceptions are enabled for the task. */
+		*pxTopOfStack |= portMSR_EE;
+	}
+	#endif
+
+	pxTopOfStack--;
+
+	/* First stack an initial value for the critical section nesting.  This
+	is initialised to zero. */
+	*pxTopOfStack = ( StackType_t ) 0x00;
+
+	/* R0 is always zero. */
+	/* R1 is the SP. */
+
+	/* Place an initial value for all the general purpose registers. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) ulR2;	/* R2 - read only small data area. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x03;	/* R3 - return values and temporaries. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) 0x04;	/* R4 - return values and temporaries. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */
+
+	#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x06;	/* R6 - other parameters and temporaries.  Used as the return address from vPortTaskEntryPoint. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x07;	/* R7 - other parameters and temporaries. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x08;	/* R8 - other parameters and temporaries. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x09;	/* R9 - other parameters and temporaries. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x0a;	/* R10 - other parameters and temporaries. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x0b;	/* R11 - temporaries. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x0c;	/* R12 - temporaries. */
+		pxTopOfStack--;
+	#else
+		pxTopOfStack-= 8;
+	#endif
+
+	*pxTopOfStack = ( StackType_t ) ulR13;	/* R13 - read/write small data area. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) pxCode;	/* R14 - return address for interrupt. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( StackType_t ) NULL;	/* R15 - return address for subroutine. */
+
+	#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x10;	/* R16 - return address for trap (debugger). */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x11;	/* R17 - return address for exceptions, if configured. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x12;	/* R18 - reserved for assembler and compiler temporaries. */
+		pxTopOfStack--;
+	#else
+		pxTopOfStack -= 4;
+	#endif
+
+	*pxTopOfStack = ( StackType_t ) 0x00;	/* R19 - must be saved across function calls. Callee-save.  Seems to be interpreted as the frame pointer. */
+
+	#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x14;	/* R20 - reserved for storing a pointer to the Global Offset Table (GOT) in Position Independent Code (PIC). Non-volatile in non-PIC code. Must be saved across function calls. Callee-save.  Not used by FreeRTOS. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x15;	/* R21 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x16;	/* R22 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x17;	/* R23 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x18;	/* R24 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x19;	/* R25 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x1a;	/* R26 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x1b;	/* R27 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x1c;	/* R28 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x1d;	/* R29 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x1e;	/* R30 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+		*pxTopOfStack = ( StackType_t ) 0x1f;	/* R31 - must be saved across function calls. Callee-save. */
+		pxTopOfStack--;
+	#else
+		pxTopOfStack -= 13;
+	#endif
+
+	/* Return a pointer to the top of the stack that has been generated so this
+	can	be stored in the task control block for the task. */
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortStartScheduler( void )
+{
+extern void ( vPortStartFirstTask )( void );
+extern uint32_t _stack[];
+
+	/* Setup the hardware to generate the tick.  Interrupts are disabled when
+	this function is called.
+
+	This port uses an application defined callback function to install the tick
+	interrupt handler because the kernel will run on lots of different
+	MicroBlaze and FPGA configurations - not all of	which will have the same
+	timer peripherals defined or available.  An example definition of
+	vApplicationSetupTimerInterrupt() is provided in the official demo
+	application that accompanies this port. */
+	vApplicationSetupTimerInterrupt();
+
+	/* Reuse the stack from main() as the stack for the interrupts/exceptions. */
+	pulISRStack = ( uint32_t * ) _stack;
+
+	/* Ensure there is enough space for the functions called from the interrupt
+	service routines to write back into the stack frame of the caller. */
+	pulISRStack -= 2;
+
+	/* Restore the context of the first task that is going to run.  From here
+	on, the created tasks will be executing. */
+	vPortStartFirstTask();
+
+	/* Should not get here as the tasks are now running! */
+	return pdFALSE;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Not implemented in ports where there is nothing to return to.
+	Artificially force an assert. */
+	configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Manual context switch called by portYIELD or taskYIELD.
+ */
+void vPortYield( void )
+{
+extern void VPortYieldASM( void );
+
+	/* Perform the context switch in a critical section to assure it is
+	not interrupted by the tick ISR.  It is not a problem to do this as
+	each task maintains its own interrupt status. */
+	portENTER_CRITICAL();
+	{
+		/* Jump directly to the yield function to ensure there is no
+		compiler generated prologue code. */
+		asm volatile (	"bralid r14, VPortYieldASM		\n\t" \
+						"or r0, r0, r0					\n\t" );
+	}
+	portEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnableInterrupt( uint8_t ucInterruptID )
+{
+int32_t lReturn;
+
+	/* An API function is provided to enable an interrupt in the interrupt
+	controller because the interrupt controller instance variable is private
+	to this file. */
+	lReturn = prvEnsureInterruptControllerIsInitialised();
+	if( lReturn == pdPASS )
+	{
+		XIntc_Enable( &xInterruptControllerInstance, ucInterruptID );
+	}
+
+	configASSERT( lReturn );
+}
+/*-----------------------------------------------------------*/
+
+void vPortDisableInterrupt( uint8_t ucInterruptID )
+{
+int32_t lReturn;
+
+	/* An API function is provided to disable an interrupt in the interrupt
+	controller because the interrupt controller instance variable is private
+	to this file. */
+	lReturn = prvEnsureInterruptControllerIsInitialised();
+
+	if( lReturn == pdPASS )
+	{
+		XIntc_Disable( &xInterruptControllerInstance, ucInterruptID );
+	}
+
+	configASSERT( lReturn );
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
+{
+int32_t lReturn;
+
+	/* An API function is provided to install an interrupt handler because the
+	interrupt controller instance variable is private to this file. */
+
+	lReturn = prvEnsureInterruptControllerIsInitialised();
+
+	if( lReturn == pdPASS )
+	{
+		lReturn = XIntc_Connect( &xInterruptControllerInstance, ucInterruptID, pxHandler, pvCallBackRef );
+	}
+
+	if( lReturn == XST_SUCCESS )
+	{
+		lReturn = pdPASS;
+	}
+
+	configASSERT( lReturn == pdPASS );
+
+	return lReturn;
+}
+/*-----------------------------------------------------------*/
+
+static int32_t prvEnsureInterruptControllerIsInitialised( void )
+{
+static int32_t lInterruptControllerInitialised = pdFALSE;
+int32_t lReturn;
+
+	/* Ensure the interrupt controller instance variable is initialised before
+	it is used, and that the initialisation only happens once. */
+	if( lInterruptControllerInitialised != pdTRUE )
+	{
+		lReturn = prvInitialiseInterruptController();
+
+		if( lReturn == pdPASS )
+		{
+			lInterruptControllerInitialised = pdTRUE;
+		}
+	}
+	else
+	{
+		lReturn = pdPASS;
+	}
+
+	return lReturn;
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Handler for the timer interrupt.  This is the handler that the application
+ * defined callback function vApplicationSetupTimerInterrupt() should install.
+ */
+void vPortTickISR( void *pvUnused )
+{
+extern void vApplicationClearTimerInterrupt( void );
+
+	/* Ensure the unused parameter does not generate a compiler warning. */
+	( void ) pvUnused;
+
+	/* This port uses an application defined callback function to clear the tick
+	interrupt because the kernel will run on lots of different MicroBlaze and
+	FPGA configurations - not all of which will have the same timer peripherals
+	defined or available.  An example definition of
+	vApplicationClearTimerInterrupt() is provided in the official demo
+	application that accompanies this port. */
+	vApplicationClearTimerInterrupt();
+
+	/* Increment the RTOS tick - this might cause a task to unblock. */
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		/* Force vTaskSwitchContext() to be called as the interrupt exits. */
+		ulTaskSwitchRequested = 1;
+	}
+}
+/*-----------------------------------------------------------*/
+
+static int32_t prvInitialiseInterruptController( void )
+{
+int32_t lStatus;
+
+	lStatus = XIntc_Initialize( &xInterruptControllerInstance, configINTERRUPT_CONTROLLER_TO_USE );
+
+	if( lStatus == XST_SUCCESS )
+	{
+		/* Initialise the exception table. */
+		Xil_ExceptionInit();
+
+	    /* Service all pending interrupts each time the handler is entered. */
+	    XIntc_SetIntrSvcOption( xInterruptControllerInstance.BaseAddress, XIN_SVC_ALL_ISRS_OPTION );
+
+	    /* Install exception handlers if the MicroBlaze is configured to handle
+	    exceptions, and the application defined constant
+	    configINSTALL_EXCEPTION_HANDLERS is set to 1. */
+		#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
+	    {
+	    	vPortExceptionsInstallHandlers();
+	    }
+		#endif /* MICROBLAZE_EXCEPTIONS_ENABLED */
+
+		/* Start the interrupt controller.  Interrupts are enabled when the
+		scheduler starts. */
+		lStatus = XIntc_Start( &xInterruptControllerInstance, XIN_REAL_MODE );
+
+		if( lStatus == XST_SUCCESS )
+		{
+			lStatus = pdPASS;
+		}
+		else
+		{
+			lStatus = pdFAIL;
+		}
+	}
+
+	configASSERT( lStatus == pdPASS );
+
+	return lStatus;
+}
+/*-----------------------------------------------------------*/
+
+

portable/GCC/MicroBlazeV8/port_exceptions.c

@@ -0,0 +1,282 @@
+/*
+ * FreeRTOS Kernel V10.3.0
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Hardware includes. */
+#include <microblaze_exceptions_i.h>
+#include <microblaze_exceptions_g.h>
+
+/* The Xilinx library defined exception entry point stacks a number of
+registers.  These definitions are offsets from the stack pointer to the various
+stacked register values. */
+#define portexR3_STACK_OFFSET	4
+#define portexR4_STACK_OFFSET	5
+#define portexR5_STACK_OFFSET	6
+#define portexR6_STACK_OFFSET	7
+#define portexR7_STACK_OFFSET	8
+#define portexR8_STACK_OFFSET	9
+#define portexR9_STACK_OFFSET	10
+#define portexR10_STACK_OFFSET	11
+#define portexR11_STACK_OFFSET	12
+#define portexR12_STACK_OFFSET	13
+#define portexR15_STACK_OFFSET	16
+#define portexR18_STACK_OFFSET  19
+#define portexMSR_STACK_OFFSET	20
+#define portexR19_STACK_OFFSET  -1
+
+/* This is defined to equal the size, in bytes, of the stack frame generated by
+the Xilinx standard library exception entry point.  It is required to determine
+the stack pointer value prior to the exception being entered. */
+#define portexASM_HANDLER_STACK_FRAME_SIZE 84UL
+
+/* The number of bytes a MicroBlaze instruction consumes. */
+#define portexINSTRUCTION_SIZE	4
+
+/* Exclude this entire file if the MicroBlaze is not configured to handle
+exceptions, or the application defined configuration constant
+configINSTALL_EXCEPTION_HANDLERS is not set to 1. */
+#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
+
+/* This variable is set in the exception entry code, before
+vPortExceptionHandler is called. */
+uint32_t *pulStackPointerOnFunctionEntry = NULL;
+
+/* This is the structure that is filled with the MicroBlaze context as it
+existed immediately prior to the exception occurrence.  A pointer to this
+structure is passed into the vApplicationExceptionRegisterDump() callback
+function, if one is defined. */
+static xPortRegisterDump xRegisterDump;
+
+/* This is the FreeRTOS exception handler that is installed for all exception
+types.  It is called from vPortExceptionHanlderEntry() - which is itself defined
+in portasm.S. */
+void vPortExceptionHandler( void *pvExceptionID );
+extern void vPortExceptionHandlerEntry( void *pvExceptionID );
+
+/*-----------------------------------------------------------*/
+
+/* vApplicationExceptionRegisterDump() is a callback function that the
+application can optionally define to receive a populated xPortRegisterDump
+structure.  If the application chooses not to define a version of
+vApplicationExceptionRegisterDump() then this weekly defined default
+implementation will be called instead. */
+extern void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) __attribute__((weak));
+void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump )
+{
+	( void ) xRegisterDump;
+
+	for( ;; )
+	{
+		portNOP();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExceptionHandler( void *pvExceptionID )
+{
+extern void *pxCurrentTCB;
+
+	/* Fill an xPortRegisterDump structure with the MicroBlaze context as it
+	was immediately before the exception occurrence. */
+
+	/* First fill in the name and handle of the task that was in the Running
+	state when the exception occurred. */
+	xRegisterDump.xCurrentTaskHandle = pxCurrentTCB;
+	xRegisterDump.pcCurrentTaskName = pcTaskGetName( NULL );
+
+	configASSERT( pulStackPointerOnFunctionEntry );
+
+	/* Obtain the values of registers that were stacked prior to this function
+	being called, and may have changed since they were stacked. */
+	xRegisterDump.ulR3 = pulStackPointerOnFunctionEntry[ portexR3_STACK_OFFSET ];
+	xRegisterDump.ulR4 = pulStackPointerOnFunctionEntry[ portexR4_STACK_OFFSET ];
+	xRegisterDump.ulR5 = pulStackPointerOnFunctionEntry[ portexR5_STACK_OFFSET ];
+	xRegisterDump.ulR6 = pulStackPointerOnFunctionEntry[ portexR6_STACK_OFFSET ];
+	xRegisterDump.ulR7 = pulStackPointerOnFunctionEntry[ portexR7_STACK_OFFSET ];
+	xRegisterDump.ulR8 = pulStackPointerOnFunctionEntry[ portexR8_STACK_OFFSET ];
+	xRegisterDump.ulR9 = pulStackPointerOnFunctionEntry[ portexR9_STACK_OFFSET ];
+	xRegisterDump.ulR10 = pulStackPointerOnFunctionEntry[ portexR10_STACK_OFFSET ];
+	xRegisterDump.ulR11 = pulStackPointerOnFunctionEntry[ portexR11_STACK_OFFSET ];
+	xRegisterDump.ulR12 = pulStackPointerOnFunctionEntry[ portexR12_STACK_OFFSET ];
+	xRegisterDump.ulR15_return_address_from_subroutine = pulStackPointerOnFunctionEntry[ portexR15_STACK_OFFSET ];
+	xRegisterDump.ulR18 = pulStackPointerOnFunctionEntry[ portexR18_STACK_OFFSET ];
+	xRegisterDump.ulR19 = pulStackPointerOnFunctionEntry[ portexR19_STACK_OFFSET ];
+	xRegisterDump.ulMSR = pulStackPointerOnFunctionEntry[ portexMSR_STACK_OFFSET ];
+
+	/* Obtain the value of all other registers. */
+	xRegisterDump.ulR2_small_data_area = mfgpr( R2 );
+	xRegisterDump.ulR13_read_write_small_data_area = mfgpr( R13 );
+	xRegisterDump.ulR14_return_address_from_interrupt = mfgpr( R14 );
+	xRegisterDump.ulR16_return_address_from_trap = mfgpr( R16 );
+	xRegisterDump.ulR17_return_address_from_exceptions = mfgpr( R17 );
+	xRegisterDump.ulR20 = mfgpr( R20 );
+	xRegisterDump.ulR21 = mfgpr( R21 );
+	xRegisterDump.ulR22 = mfgpr( R22 );
+	xRegisterDump.ulR23 = mfgpr( R23 );
+	xRegisterDump.ulR24 = mfgpr( R24 );
+	xRegisterDump.ulR25 = mfgpr( R25 );
+	xRegisterDump.ulR26 = mfgpr( R26 );
+	xRegisterDump.ulR27 = mfgpr( R27 );
+	xRegisterDump.ulR28 = mfgpr( R28 );
+	xRegisterDump.ulR29 = mfgpr( R29 );
+	xRegisterDump.ulR30 = mfgpr( R30 );
+	xRegisterDump.ulR31 = mfgpr( R31 );
+	xRegisterDump.ulR1_SP = ( ( uint32_t ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE;
+	xRegisterDump.ulEAR = mfear();
+	xRegisterDump.ulESR = mfesr();
+	xRegisterDump.ulEDR = mfedr();
+
+	/* Move the saved program counter back to the instruction that was executed
+	when the exception occurred.  This is only valid for certain types of
+	exception. */
+	xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_exceptions - portexINSTRUCTION_SIZE;
+
+	#if( XPAR_MICROBLAZE_USE_FPU != 0 )
+	{
+		xRegisterDump.ulFSR = mffsr();
+	}
+	#else
+	{
+		xRegisterDump.ulFSR = 0UL;
+	}
+	#endif
+
+	/* Also fill in a string that describes what type of exception this is.
+	The string uses the same ID names as defined in the MicroBlaze standard
+	library exception header files. */
+	switch( ( uint32_t ) pvExceptionID )
+	{
+		case XEXC_ID_FSL :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FSL";
+				break;
+
+		case XEXC_ID_UNALIGNED_ACCESS :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_UNALIGNED_ACCESS";
+				break;
+
+		case XEXC_ID_ILLEGAL_OPCODE :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_ILLEGAL_OPCODE";
+				break;
+
+		case XEXC_ID_M_AXI_I_EXCEPTION :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_I_EXCEPTION or XEXC_ID_IPLB_EXCEPTION";
+				break;
+
+		case XEXC_ID_M_AXI_D_EXCEPTION :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_D_EXCEPTION or XEXC_ID_DPLB_EXCEPTION";
+				break;
+
+		case XEXC_ID_DIV_BY_ZERO :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_DIV_BY_ZERO";
+				break;
+
+		case XEXC_ID_STACK_VIOLATION :
+				xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_STACK_VIOLATION or XEXC_ID_MMU";
+				break;
+
+		#if( XPAR_MICROBLAZE_USE_FPU != 0 )
+
+			case XEXC_ID_FPU :
+						xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FPU see ulFSR value";
+						break;
+
+		#endif /* XPAR_MICROBLAZE_USE_FPU */
+	}
+
+	/* vApplicationExceptionRegisterDump() is a callback function that the
+	application can optionally define to receive the populated xPortRegisterDump
+	structure.  If the application chooses not to define a version of
+	vApplicationExceptionRegisterDump() then the weekly defined default
+	implementation within this file will be called instead. */
+	vApplicationExceptionRegisterDump( &xRegisterDump );
+
+	/* Must not attempt to leave this function! */
+	for( ;; )
+	{
+		portNOP();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPortExceptionsInstallHandlers( void )
+{
+static uint32_t ulHandlersAlreadyInstalled = pdFALSE;
+
+	if( ulHandlersAlreadyInstalled == pdFALSE )
+	{
+		ulHandlersAlreadyInstalled = pdTRUE;
+
+		#if XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS == 1
+			microblaze_register_exception_handler( XEXC_ID_UNALIGNED_ACCESS, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_UNALIGNED_ACCESS );
+		#endif /* XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS*/
+
+		#if XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_ILLEGAL_OPCODE, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_ILLEGAL_OPCODE );
+		#endif /* XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_M_AXI_I_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_I_EXCEPTION );
+		#endif /* XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_M_AXI_D_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_D_EXCEPTION );
+		#endif /* XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_IPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_IPLB_EXCEPTION );
+		#endif /* XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_DPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DPLB_EXCEPTION );
+		#endif /* XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_DIV_BY_ZERO, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DIV_BY_ZERO );
+		#endif /* XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_FPU_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_FPU, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FPU );
+		#endif /* XPAR_MICROBLAZE_FPU_EXCEPTION */
+
+		#if XPAR_MICROBLAZE_FSL_EXCEPTION == 1
+			microblaze_register_exception_handler( XEXC_ID_FSL, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FSL );
+		#endif /* XPAR_MICROBLAZE_FSL_EXCEPTION */
+
+		microblaze_enable_exceptions();
+	}
+}
+
+/* Exclude the entire file if the MicroBlaze is not configured to handle
+exceptions, or the application defined configuration item
+configINSTALL_EXCEPTION_HANDLERS is not set to 1. */
+#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */
+
+
+