Add Cortex M7 r0p1 Errata 837070 workaround to CM4_MPU ports (#513)

* Clarify Cortex M7 r0p1 errata number in r0p1 specific port. * Add ARM Cortex M7 r0p0 / r0p1 Errata 837070 workaround to CM4 MPU ports. Optionally, enable the errata workaround by defining configTARGET_ARM_CM7_r0p0 or configTARGET_ARM_CM7_r0p1 in FreeRTOSConfig.h. * Add r0p1 errata support to IAR port as well Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> * Change macro name to configENABLE_ERRATA_837070_WORKAROUND Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> Co-authored-by: Gaurav Aggarwal <aggarg@amazon.com>
2025-04-19 21:11:57 -04:00 · 2022-06-29 22:05:26 -07:00 · 2022-06-29 22:05:26 -07:00 · 2dfdfc4ba4
parent 8e89acfc98
commit 2dfdfc4ba4
8 changed files with 122 additions and 24 deletions
--- a/portable/GCC/ARM_CM4_MPU/port.c
+++ b/portable/GCC/ARM_CM4_MPU/port.c
@ -70,6 +70,12 @@
 #define portNVIC_SYS_CTRL_STATE_REG               ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
 #define portNVIC_MEM_FAULT_ENABLE                 ( 1UL << 16UL )

+/* Constants used to detect Cortex-M7 r0p0 and r0p1 cores, and ensure
+ * that a work around is active for errata 837070. */
+#define portCPUID                                 ( *( ( volatile uint32_t * ) 0xE000ed00 ) )
+#define portCORTEX_M7_r0p1_ID                     ( 0x410FC271UL )
+#define portCORTEX_M7_r0p0_ID                     ( 0x410FC270UL )
+
 /* 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 ) )
@ -410,6 +416,18 @@ BaseType_t xPortStartScheduler( void )
     * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
    configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );

+    /* Errata 837070 workaround must only be enabled on Cortex-M7 r0p0
+     * and r0p1 cores. */
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        configASSERT( ( portCPUID == portCORTEX_M7_r0p1_ID ) || ( portCPUID == portCORTEX_M7_r0p0_ID ) );
+    #else
+        /* When using this port on a Cortex-M7 r0p0 or r0p1 core, define
+         * configENABLE_ERRATA_837070_WORKAROUND to 1 in your
+         * FreeRTOSConfig.h. */
+        configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+        configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+    #endif
+
    #if ( configASSERT_DEFINED == 1 )
        {
            volatile uint32_t ulOriginalPriority;
@ -587,9 +605,15 @@ void xPortPendSVHandler( void )
        "										\n"
        "	stmdb sp!, {r0, r3}					\n"
        "	mov r0, %0							\n"
+       #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+            "	cpsid i							\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+        #endif
        "	msr basepri, r0						\n"
        "	dsb									\n"
        "	isb									\n"
+        #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+            "	cpsie i							\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+        #endif
        "	bl vTaskSwitchContext				\n"
        "	mov r0, #0							\n"
        "	msr basepri, r0						\n"
--- a/portable/GCC/ARM_CM4_MPU/portmacro.h
+++ b/portable/GCC/ARM_CM4_MPU/portmacro.h
@ -71,6 +71,7 @@ typedef unsigned long    UBaseType_t;
 * not need to be guarded with a critical section. */
    #define portTICK_TYPE_IS_ATOMIC    1
 #endif
+
 /*-----------------------------------------------------------*/

 /* MPU specific constants. */
@ -346,10 +347,16 @@ portFORCE_INLINE static void vPortRaiseBASEPRI( void )

    __asm volatile
    (
-        "	mov %0, %1												\n"\
-        "	msr basepri, %0											\n"\
-        "	isb														\n"\
-        "	dsb														\n"\
+        "	mov %0, %1												\n"
+        #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+            "	cpsid i												\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+        #endif
+        "	msr basepri, %0											\n"
+        "	isb														\n"
+        "	dsb														\n"
+        #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+            "	cpsie i												\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+        #endif
        : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
    );
 }
@ -362,11 +369,17 @@ portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )

    __asm volatile
    (
-        "	mrs %0, basepri											\n"\
-        "	mov %1, %2												\n"\
-        "	msr basepri, %1											\n"\
-        "	isb														\n"\
-        "	dsb														\n"\
+        "	mrs %0, basepri											\n"
+        "	mov %1, %2												\n"
+        #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+            "	cpsid i												\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+        #endif
+        "	msr basepri, %1											\n"
+        "	isb														\n"
+        "	dsb														\n"
+        #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+            "	cpsie i												\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+        #endif
        : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
    );

--- a/portable/GCC/ARM_CM7/r0p1/port.c
+++ b/portable/GCC/ARM_CM7/r0p1/port.c
@ -445,11 +445,11 @@ void xPortPendSVHandler( void )
        "										\n"
        "	stmdb sp!, {r0, r3}					\n"
        "	mov r0, %0 							\n"
-        "	cpsid i								\n"/* Errata workaround. */
+        "	cpsid i								\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
        "	msr basepri, r0						\n"
        "	dsb									\n"
        "	isb									\n"
-        "	cpsie i								\n"/* Errata workaround. */
+        "	cpsie i								\n"/* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
        "	bl vTaskSwitchContext				\n"
        "	mov r0, #0							\n"
        "	msr basepri, r0						\n"
--- a/portable/IAR/ARM_CM4F_MPU/port.c
+++ b/portable/IAR/ARM_CM4F_MPU/port.c
@ -98,8 +98,8 @@
 #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. */
+/* Constants used to detect Cortex-M7 r0p0 and r0p1 cores, and ensure
+ * that a work around is active for errata 837070. */
 #define portCPUID                                 ( *( ( volatile uint32_t * ) 0xE000ed00 ) )
 #define portCORTEX_M7_r0p1_ID                     ( 0x410FC271UL )
 #define portCORTEX_M7_r0p0_ID                     ( 0x410FC270UL )
@ -350,11 +350,17 @@ BaseType_t xPortStartScheduler( void )
     * See https://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 );
+    /* Errata 837070 workaround must only be enabled on Cortex-M7 r0p0
+     * and r0p1 cores. */
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        configASSERT( ( portCPUID == portCORTEX_M7_r0p1_ID ) || ( portCPUID == portCORTEX_M7_r0p0_ID ) );
+    #else
+        /* When using this port on a Cortex-M7 r0p0 or r0p1 core, define
+         * configENABLE_ERRATA_837070_WORKAROUND to 1 in your
+         * FreeRTOSConfig.h. */
+        configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+        configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+    #endif

    #if ( configASSERT_DEFINED == 1 )
        {
--- a/portable/IAR/ARM_CM4F_MPU/portasm.s
+++ b/portable/IAR/ARM_CM4F_MPU/portasm.s
@ -70,9 +70,15 @@ xPortPendSVHandler:

 	stmdb sp!, {r0, r3}
 	mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
+	#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+		cpsid i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+	#endif
 	msr basepri, r0
 	dsb
 	isb
+	#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+		cpsie i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+	#endif
 	bl vTaskSwitchContext
 	mov r0, #0
 	msr basepri, r0
--- a/portable/IAR/ARM_CM4F_MPU/portmacro.h
+++ b/portable/IAR/ARM_CM4F_MPU/portmacro.h
@ -73,6 +73,7 @@ typedef unsigned long    UBaseType_t;
 * not need to be guarded with a critical section. */
    #define portTICK_TYPE_IS_ATOMIC    1
 #endif
+
 /*-----------------------------------------------------------*/

 /* MPU specific constants. */
@ -253,12 +254,23 @@ typedef struct MPU_SETTINGS
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );

-#define portDISABLE_INTERRUPTS()                               \
-    {                                                          \
-        __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \
-        __DSB();                                               \
-        __ISB();                                               \
-    }
+#if( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+    #define portDISABLE_INTERRUPTS()                               \
+        {                                                          \
+            __disable_interrupt();                                 \
+            __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \
+            __DSB();                                               \
+            __ISB();                                               \
+            __enable_interrupt();                                  \
+        }
+#else
+    #define portDISABLE_INTERRUPTS()                               \
+        {                                                          \
+            __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \
+            __DSB();                                               \
+            __ISB();                                               \
+        }
+#endif

 #define portENABLE_INTERRUPTS()                   __set_BASEPRI( 0 )
 #define portENTER_CRITICAL()                      vPortEnterCritical()
--- a/portable/RVDS/ARM_CM4_MPU/port.c
+++ b/portable/RVDS/ARM_CM4_MPU/port.c
@ -59,6 +59,12 @@
 #define portNVIC_SYS_CTRL_STATE_REG               ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
 #define portNVIC_MEM_FAULT_ENABLE                 ( 1UL << 16UL )

+/* Constants used to detect Cortex-M7 r0p0 and r0p1 cores, and ensure
+ * that a work around is active for errata 837070. */
+#define portCPUID                                 ( *( ( volatile uint32_t * ) 0xE000ed00 ) )
+#define portCORTEX_M7_r0p1_ID                     ( 0x410FC271UL )
+#define portCORTEX_M7_r0p0_ID                     ( 0x410FC270UL )
+
 /* 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 ) )
@ -400,6 +406,18 @@ BaseType_t xPortStartScheduler( void )
     * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
    configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );

+    /* Errata 837070 workaround must only be enabled on Cortex-M7 r0p0
+     * and r0p1 cores. */
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        configASSERT( ( portCPUID == portCORTEX_M7_r0p1_ID ) || ( portCPUID == portCORTEX_M7_r0p0_ID ) );
+    #else
+        /* When using this port on a Cortex-M7 r0p0 or r0p1 core, define
+         * configENABLE_ERRATA_837070_WORKAROUND to 1 in your
+         * FreeRTOSConfig.h. */
+        configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+        configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+    #endif
+
    #if ( configASSERT_DEFINED == 1 )
        {
            volatile uint32_t ulOriginalPriority;
@ -591,9 +609,15 @@ __asm void xPortPendSVHandler( void )

    stmdb sp !, { r0, r3 }
    mov r0, # configMAX_SYSCALL_INTERRUPT_PRIORITY
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        cpsid i             /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+    #endif
    msr basepri, r0
    dsb
    isb
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        cpsie i             /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
+    #endif
    bl vTaskSwitchContext
    mov r0, #0
    msr basepri, r0
--- a/portable/RVDS/ARM_CM4_MPU/portmacro.h
+++ b/portable/RVDS/ARM_CM4_MPU/portmacro.h
@ -70,6 +70,7 @@ typedef unsigned long    UBaseType_t;
 * not need to be guarded with a critical section. */
    #define portTICK_TYPE_IS_ATOMIC    1
 #endif
+
 /*-----------------------------------------------------------*/

 /* MPU specific constants. */
@ -334,9 +335,15 @@ static portFORCE_INLINE void vPortRaiseBASEPRI( void )
        /* Set BASEPRI to the max syscall priority to effect a critical
         * section. */
 /* *INDENT-OFF* */
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        cpsid i
+    #endif
        msr basepri, ulNewBASEPRI
        dsb
        isb
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        cpsie i
+    #endif
 /* *INDENT-ON* */
    }
 }
@ -366,9 +373,15 @@ static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void )
         * section. */
 /* *INDENT-OFF* */
        mrs ulReturn, basepri
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        cpsid i
+    #endif
        msr basepri, ulNewBASEPRI
        dsb
        isb
+    #if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
+        cpsie i
+    #endif
 /* *INDENT-ON* */
    }