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Detect more startup config errors on Cortex M (#832)

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Verify that the application has correctly installed PendSV
and SVCall handlers. The application can choose to
disable these checks by setting configCHECK_HANDLER_INSTALLATION
to 0 in their FreeRTOSConfig.h.
This commit is contained in:
Jeff Tenney 2023-12-10 21:57:47 -07:00 • committed by GitHub
parent 553caa18ce
commit 30e6b8a5ea
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35 changed files with 1765 additions and 350 deletions
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71
portable/ARMv8M/non_secure/port.c
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@ -80,6 +80,12 @@
#endif
/*-----------------------------------------------------------*/
/**
* @brief Prototype of all Interrupt Service Routines (ISRs).
*/
typedef void ( * portISR_t )( void );
/*-----------------------------------------------------------*/
/**
* @brief Constants required to manipulate the NVIC.
*/
@ -101,10 +107,18 @@
/**
* @brief Constants required to manipulate the SCB.
*/
#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( volatile uint32_t * ) 0xe000ed24 )
#define portSCB_VTOR_REG ( *( ( portISR_t ** ) 0xe000ed08 ) )
#define portSCB_SYS_HANDLER_CTRL_STATE_REG ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT ( 1UL << 16UL )
/*-----------------------------------------------------------*/
/**
* @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
*/
#define portVECTOR_INDEX_SVC ( 11 )
#define portVECTOR_INDEX_PENDSV ( 14 )
/*-----------------------------------------------------------*/
/**
* @brief Constants required to check the validity of an interrupt priority.
*/
@ -1598,22 +1612,52 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
{
/* An application can install FreeRTOS interrupt handlers in one of the
* folllowing ways:
* 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
* for SVCall and PendSV interrupts respectively.
* 2. Indirect Routing - Install separate handlers for SVCall and PendSV
* interrupts and route program control from those handlers to
* SVC_Handler and PendSV_Handler functions.
*
* Applications that use Indirect Routing must set
* configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
* routing, which is validated here when configCHECK_HANDLER_INSTALLATION
* is 1, should be preferred when possible. */
#if ( configCHECK_HANDLER_INSTALLATION == 1 )
{
const portISR_t * const pxVectorTable = portSCB_VTOR_REG;
/* Validate that the application has correctly installed the FreeRTOS
* handlers for SVCall and PendSV interrupts. We do not check the
* installation of the SysTick handler because the application may
* choose to drive the RTOS tick using a timer other than the SysTick
* timer by overriding the weak function vPortSetupTimerInterrupt().
*
* Assertion failures here indicate incorrect installation of the
* FreeRTOS handlers. For help installing the FreeRTOS handlers, see
* https://www.FreeRTOS.org/FAQHelp.html.
*
* Systems with a configurable address for the interrupt vector table
* can also encounter assertion failures or even system faults here if
* VTOR is not set correctly to point to the application's vector table. */
configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
}
#endif /* configCHECK_HANDLER_INSTALLATION */
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
{
volatile uint32_t ulOriginalPriority;
volatile uint32_t ulImplementedPrioBits = 0;
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
* 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 = portNVIC_SHPR2_REG;
/* Determine the number of priority bits available. First write to all
* possible bits. */
* First, determine the number of priority bits available. Write to all
* possible bits in the priority setting for SVCall. */
portNVIC_SHPR2_REG = 0xFF000000;
/* Read the value back to see how many bits stuck. */
@ -1636,7 +1680,6 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
/* Calculate the maximum acceptable priority group value for the number
* of bits read back. */
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
{
ulImplementedPrioBits++;
@ -1674,16 +1717,14 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
* register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
/* Restore the clobbered interrupt priority register to its original
* value. */
portNVIC_SHPR2_REG = ulOriginalPriority;
}
#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
/* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
* the highest priority. */
portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
portNVIC_SHPR2_REG = 0;
#if ( configENABLE_MPU == 1 )
{