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First draft of a CRx MPU Port for FreeRTOS

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Soren Ptak 2023-12-27 18:50:31 -05:00
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/*
* FreeRTOS Kernel V11.0.1
* Copyright (C) 2023 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
/** @brief Functions, Defines, and Structs for use in the ARM_CRx_MPU FreeRTOS-Port
* @file portmacro.h
* @note The settings in this file configure FreeRTOS correctly for the given
* hardware and compiler. These settings should not be altered.
*/
/** @defgroup MPU Control
* @brief APIs and Variables used to control the onboard MPU.
*/
#ifdef __cplusplus
extern "C" {
#endif
/* Include stdint for integer types of specific bit widths */
#include <stdint.h>
/* ------------------------- FreeRTOS Config Check ------------------------- */
/* Include the FreeRTOS Config file first to get the includes being used */
#include "FreeRTOSConfig.h"
#ifndef configENABLE_MPU
#error "This port is only usable with configENABLE_MPU set to 1"
#elif( configENABLE_MPU != 1 )
#error "This port is only usable with configENABLE_MPU set to 1"
#endif /* configENABLE_MPU */
#ifndef configUSE_MPU_WRAPPERS_V1
#define configUSE_MPU_WRAPPERS_V1 0
#elif( ( configUSE_MPU_WRAPPERS_V1 != 0 ) )
#error "This port is only usable with configUSE_MPU_WRAPPERS_V1 set to 0"
#endif /* ( configUSE_MPU_WRAPPERS_V1 != 0 ) */
#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
#elif( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY != 1 )
#error This Port is only usable with configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY set to 1
#endif /* ( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY != 1 ) */
/** @brief The size in Bytes that the Privileged System Call Stack should be.
*
* @ingroup MPU Privilege
*
* @note This stack is used when performing FreeRTOS System Calls. The stack pointer
* is changed to use this region when a call to a function is made that goes through
* the MPU Wrappers.
*
* This value should be a size that can be made into a MPU Region.
*
*/
#ifndef configSYSTEM_CALL_STACK_SIZE
#error configSYSTEM_CALL_STACK_SIZE must be defined to the desired size of the system call stack in words for using MPU wrappers v2.
#endif /* configSYSTEM_CALL_STACK_SIZE */
#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 /* ( configMAX_PRIORITIES > 32 ) */
/** @brief Mark that a task of the current priority is ready for execution
*
* @ingroup Scheduler
*
* @param[in] uxPriority Priority of task that can enter the ready state
* @param[out] uxTopReadyPriority Bitmap of tasks that are in the ready state
*/
#define portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) \
( uxTopReadyPriority ) |= ( 1UL << ( uxPriority ) )
/** @brief Mark that a task of the current priority has left the ready state
*
* @ingroup Scheduler
*
* @param[in] uxPriority Priority of task that is leaving the ready state
* @param[out] uxTopReadyPriority Bitmap of tasks that are in the ready state
*/
#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) \
( uxTopReadyPriority ) &= ~( 1UL << ( uxPriority ) )
/** @brief Determine what the highest priority ready task is.
*
* @ingroup Scheduler
*
* @param[out] uxTopReadyPriority Bitmap of tasks that are in the ready state
* @param[out] uxTopPriority The highest priority ready task's priority value.
*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ) \
uxTopPriority = ( 31UL - ulPortCountLeadingZeros( ( uxTopReadyPriority ) ) )
#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 /* configSETUP_TICK_INTERRUPT */
#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 /* configCLEAR_TICK_INTERRUPT */
#ifndef configEOI_ADDRESS
#error Did not define a memrory address to mark the end of an Interrupt
#endif /* configEOI_ADDRESS */
#ifdef configUSE_TICKLESS_IDLE
#if( configUSE_TICKLESS_IDLE != 0 )
#error This port does not yet support tickless idle
#endif /* ( configUSE_TICKLESS_IDLE != 0 ) */
#endif /* configUSE_TICKLESS_IDLE */
/* ------------------------- Port Type Definitions ------------------------- */
#include "portmacro_asm.h"
/** @brief Critical section nesting value to mark the end of a critical section.
*
* @ingroup Critical Sections
*
* @note
* A critical section is exited when the critical section nesting count reaches
* this value. When exiting a critical section IRQs are re-enabled.
*/
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0x0 )
/** @brief Bit value used to mark if the CPU is currently executing in Thumb Mode.
* @ingroup Task Context
*/
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
/** @brief Value used to check if a task's function is a Thumb function.
* @ingroup Task Context
*/
#define portTHUMB_MODE_ADDRESS ( 0x01UL )
/** @brief Unsigned Data type equal to the data word operating size of the CPU.
*
* @ingroup Port Interface Specifications
*
* @note
* The FreeRTOS-Kernel needs to be able to use an unsigned type that is
* the most efficient, natural type for the targeted architecture.
*/
typedef uint32_t StackType_t;
/** @brief Signed Data type equal to the data word operating size of the CPU.
*
* @ingroup Port Interface Specifications
*
* @note
* The FreeRTOS-Kernel needs to be able to use a signed type that is
* the most efficient, natural type for the targeted architecture.
*/
typedef int32_t BaseType_t;
/** @brief Unsigned Data type equal to the data word operating size of the CPU.
*
* @ingroup Port Interface Specifications
*
* @note
* The FreeRTOS-Kernel needs to be able to use an unsigned type that is
* the most efficient, natural type for the targeted architecture.
*/
typedef uint32_t UBaseType_t;
/** @brief Integer type used for the Tick Counter
*
* @note
* Use a 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.
*/
typedef uint32_t TickType_t;
/** @brief Marks the direction the stack grows on the targeted CPU.
*
* @ingroup Port Interface Specifications
*
*/
#define portSTACK_GROWTH ( -1 )
/** @brief Specifies at what number of bytes a stack pointer shall be aligned.
*
* @ingroup Port Interface Specifications
*
*/
#define portBYTE_ALIGNMENT 8U
/** @brief Task function prototype macro as described on FreeRTOS.org
*
* @ingroup Port Interface Specifications
*
* @note
* 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 )
/** @brief Task function prototype macro as described on FreeRTOS.org
*
* @ingroup Port Interface Specifications
*
* @note
* These are not required for this port but included in case common demo code
* that uses these macros is used.
*/
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/** @brief Wrapper for the no-op ARM Assembly Instruction
* @ingroup Port Interface Specifications
*/
#define portNOP() __asm volatile( "NOP" )
/** @brief Wrapper for the Inline GCC Label
* @ingroup Port Interface Specifications
*/
#define portINLINE __inline
/** @brief Wrapper for the ARM Memory Sync Assembly Instruction
* @ingroup Port Interface Specifications
*/
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
/** @brief Defines if the system tick count can be accessed atomically
*
* @ingroup System Clock
*/
#define portTICK_TYPE_IS_ATOMIC 1
/** @brief Define the number of miliseconds between system ticks.
*
* @ingroup System Clock
*/
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000UL / configTICK_RATE_HZ )
/** @brief Define the larges possible delay value for a task.
*
* @ingroup System Clock
*/
#define portMAX_DELAY ( TickType_t ) 0xFFFFFFFFUL
/* --------------------------- Port Assembly Handlers --------------------------- */
/** @brief Assembly FreeRTOS Supervisor Call Handler */
void FreeRTOS_SVC_Handler( void );
/** @brief Assembly FreeRTOS Interrupt Handler */
void FreeRTOS_IRQ_Handler( void );
/** @brief Assembly FreeRTOS IRQ Handler
*
* @ingroup Scheduler
*
* @note This must be installed as the handler for whichever peripheral is used
* to generate the RTOS tick if using a VIM. */
/** @brief Decleration of the FreeRTOS Tick Handler.
*
* @ingroup Scheduler
*
* @note This must be installed as the handler for whichever peripheral is used
* to generate the RTOS tick if using a VIM. */
void FreeRTOS_Tick_Handler( void ) __attribute__( ( weak, interrupt( "IRQ" ) ) );
/** @brief Pend a context switch inside of the FreeRTOS-Kernel.
* @ingroup Scheduler
* @note This is used to raise a pending IRQ on a board that supplies a VIM.
*/
void vPortYieldWithinAPI( void ) __attribute__( ( weak, interrupt( "IRQ" ) ) );
/* --------------------------- Port Assembly Functions --------------------------- */
/** @brief Make a Supervisor Call to swap the currently running task out.
*
* @ingroup Scheduler
* @note The FreeRTOS-Kernel needs a method to swap the current task that is
* running. The FreeRTOS-Port needs to ensure that when this happens any
* hardware specific values related to the current task’s context are properly
* saved. A properly saved context can be restored to allow execution of the
* task as if it was not interrupted.
*/
void vPortYield( void );
/** @brief Raise a Supervisor Call to swap the currently running task out. */
#define portYIELD() vPortYield()
/** @brief Disable IRQs then increment the critical nesting count.
* @ingroup Critical Section
*/
void vPortEnterCritical( void );
/** @brief Enter a Critical Section inside of the FreeRTOS-Kernel */
#define portENTER_CRITICAL() vPortEnterCritical()
/** @brief Enable IRQs and decrement the critical nesting count.
* @ingroup Critical Section
*/
void vPortExitCritical( void );
/** @brief Exit a Critical Section inside of the FreeRTOS-Kernel.
* @ingroup Critical Section
*/
#define portEXIT_CRITICAL() vPortExitCritical()
/** @brief Set the IRQ bit of the CPSR high, enabling IRQs.
* @ingroup Interrupt Management
*/
void vPortEnableInterrupts( void );
/** @brief Enable Interrupts by setting the IRQ allowed flag on the CPU
* @ingroup Interrupt Management
*/
#define portENABLE_INTERRUPTS() vPortEnableInterrupts()
/** @brief Set the IRQ bit of the CPSR low, disabling IRQs.
* @ingroup Interrupt Management
*/
void vPortDisableInterrupts( void );
/** @brief Enable Interrupts by lowering the IRQ allowed flag on the CPU.
* @ingroup Interrupt Management
*/
#define portDISABLE_INTERRUPTS() vPortDisableInterrupts()
/** @brief Exit the FreeRTOS-Kernel, restoring the task's settings.
*
* @ingroup Port Privilege
*
* @return void
*/
void vPortSystemCallExit( void );
/** @brief Load the context of the first task.
*
* @ingroup Scheduler
*
* @note This is an assembly function implemented in portASM.s, it loads the context
* of the first task from pxCurrentTCB.
*/
void vPortStartFirstTask( void );
/** @brief Enable the onboard MPU
*
* @ingroup MPU Control
*
* @return void
*/
void prvMpuEnable( void );
/** @brief Disable the onboard MPU
*
* @ingroup MPU Control
*
* @return VOID
*/
void prvMpuDisable( void );
/** @brief Assembly routine to set permissions for an MPU Region.
*
* @ingroup MPU Control
*
* @param[in] regionNumber The MPU Region Number to change permissions for
* @param[in] baseAddress The base address of the MPU Region
* @param[in] regionSize The number of bytes to make the MPU Region
* @param[in] regionPermissions The permissions to assign to the MPU Region
*
* @note This is an Assembly Function implemented in portASM.S.
* This is meant as a purely internal function that performs a raw write of the
* provided values to the relevant MPU Registers. The inputs to this function
* are checked internally before it is called in the port.c file.
*/
void prvMpuSetRegion(
uint32_t regionNumber,
uint32_t baseAddress,
uint32_t regionSize,
uint32_t regionPermissions
);
/* ----------------------------- Port C Functions ----------------------------- */
/** @brief Checks whether or not the processor is privileged.
*
* @ingroup Port Privilege
*
* @note
* The Privilege level is determined by checking if bits [4:0] of
* the callers Current Program Status Register are in USER_MODE, 0x10
*
* @return
* 0 If the CPSR Mode Bits are set to 0x10
* 1 If the CPSR Mode Bits are set to 0x11-0x11F
*
*/
BaseType_t xPortIsPrivileged( void );
/** @brief Check if the CPU is currently in a privileged operating mode
*
* @ingroup Port Privilege
*
* @return
* 1 If the processor is privileged
* 0 If the processor is not privileged
*
*/
#define portIS_PRIVILEGED() xPortIsPrivileged()
/** @brief Check if ulTaskFlags has portTASK_IS_PRIVILEGED_FLAG.
*
* @ingroup Port Privilege
*
* @note
* As this loads pxCurrentTCB to determine if the task's ulTaskFlags is privileged
* or not, this function can return a different value than xPortIsPrivileged.
*
* @return
* 0 If pxCurrentTCB's !( ulTaskFlags && portTASK_IS_PRIVILEGED_FLAG )
* 1 If pxCurrentTCB's ( ulTaskFlags && portTASK_IS_PRIVILEGED_FLAG )
*/
BaseType_t xPortIsTaskPrivileged( void );
/** @brief Checks whether or not the currently running task is privileged.
*
* @ingroup Port Privilege
*
* @return
* pdTRUE if the calling task is privileged
* pdFALSE if the calling task is not privileged
*/
#define portIS_TASK_PRIVILEGED() xPortIsTaskPrivileged()
/** @brief Default return to catch tasks incorrectly exiting their functions. */
void prvTaskExitError( void );
/** @brief User provided task return function.
*
* @ingroup Task Context
*
* @note 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 configTASK_RETURN_ADDRESS prvTaskExitError
#endif /* configTASK_RETURN_ADDRESS */
/** @brief Address of function a task should execute if it exits its assigned function.
*
* @ingroup Task Context
*
* @note If configTASK_RETURN_ADDRESS is not defined this value shall be set to
* prvTaskExitError().
*/
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
/** @brief The lowest priority interrupt available on the CPU */
#define portLOWEST_INTERRUPT_PRIORITY \
( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
/** @brief The lowest priority interrupt that is usable by the system.
* @ingroup Interrupt Management
*/
#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
/** @brief Returns the number of leading zeros in a 32 bit variable.
*
* @param[in] ulBitmap 32 Bit long number to count zeros of.
*
* @return The number of leading zeros ulBitmap has.
*/
UBaseType_t ulPortCountLeadingZeros( UBaseType_t ulBitmap );
/* ------------------------- Port MPU Definitions ------------------------- */
/** @brief Mark that this port utilizes the onboard ARM MPU.
*
* @ingroup MPU Control
*
* @note The structures and methods of manipulating the MPU are contained
* within the port layer. Fills the xMPUSettings structure with the memory
* region information contained in xRegions.
*
*/
#define portUSING_MPU_WRAPPERS 1
/** @brief Used to mark if a task should be created as a privileged task.
*
* @ingroup Task Context
* @ingroup MPU Control
*
* @note This is done by performing a bitwise OR of this value and the task priority.
* For example, to create a privileged task at priority 2 the uxPriority
* parameter should be set to ( 2 | portPRIVILEGE_BIT ).
*/
#define portPRIVILEGE_BIT ( 0x80000000UL )
/** @brief Mark that a Task has Stack Frame Padding
*
* @ingroup Task Context
*
* @note Flags used for xMPU_SETTINGS.ulTaskFlags member to mark the stack frame is
* padded. */
#define portSTACK_FRAME_HAS_PADDING_FLAG ( 1UL << 0UL )
#define portSYSTEM_CALL_STACK_SIZE configSYSTEM_CALL_STACK_SIZE
/** @brief Structure to hold the MPU Register Values
* @struct xMPU_REGION_REGISTERS
*
* @ingroup MPU Control
*
* NOTE: Do not modify this structure. The ordering of this struct MUST
* line up with the ordering explained in portRESTORE_CONTEXT.
*/
typedef struct MPU_REGION_REGISTERS
{
/** @brief Member used to hold the MPU register value for the Region Size
* @struct xMPU_REGION_REGISTERS
* @ingroup MPU Control
*/
uint32_t ulRegionSize;
/** @brief Member used to hold the MPU register value for the Region Attributes
* @struct xMPU_REGION_REGISTERS
* @ingroup MPU Control
*/
uint32_t ulRegionAttribute;
/** @brief Member used to hold the MPU register value for the Region Base Address.
* @struct xMPU_REGION_REGISTERS
* @ingroup MPU Control
*/
uint32_t ulRegionBaseAddress;
} xMPU_REGION_REGISTERS;
/** @brief Structure to hold per-task System Call Stack information
* @struct xSYSTEM_CALL_STACK_INFO
*
* @ingroup Port Privilege
*
* NOTE: Do not modify this structure. The ordering of this structure is expected to be
* this way in the assembly code of the port.
*/
typedef struct SYSTEM_CALL_STACK_INFO
{
/** @brief Stack Pointer of the task when it made a FreeRTOS System Call
* @note This will point to the start of ulSystemCallStackBuffer[]
* @struct xSYSTEM_CALL_STACK_INFO
* @ingroup Port Privilege
*/
uint32_t * pulTaskStackPointer;
/** @brief Link Register of the task when it made a FreeRTOS System Call
* @struct xSYSTEM_CALL_STACK_INFO
* @ingroup Port Privilege
*/
uint32_t * pulLinkRegisterAtSystemCallEntry;
/** @brief Pre-Set Stack Pointer to use when making a FreeRTOS System Call
* @struct xSYSTEM_CALL_STACK_INFO
* @ingroup Port Privilege
*/
uint32_t * pulSystemCallStackPointer;
/** @brief Pre-Set Link Register to exit a FreeRTOS System Call
* @note This value is set in pxPortInitialiseStack to ensure after making
* a FreeRTOS System Call that the last LR jump is to vPortSystemCallExit()
* @struct xSYSTEM_CALL_STACK_INFO
* @ingroup Port Privilege
*/
void * pulSystemCallLinkRegister;
/** @brief Buffer to be used when performing a FreeRTOS System Call
* @struct xSYSTEM_CALL_STACK_INFO
* @ingroup Port Privilege
*/
uint32_t ulSystemCallStackBuffer[ configSYSTEM_CALL_STACK_SIZE ];
} xSYSTEM_CALL_STACK_INFO;
/** @brief Per-Task MPU Settings structure stored in the TCB
* @struct xMPU_SETTINGS
*
* @ingroup MPU Control
* @ingroup Task Context
* @ingroup Port Privilege
*
* NOTE: Do not modify this structure. The ordering of this structure is expected to be
* this way in the assembly code of the port.
*/
typedef struct MPU_SETTINGS
{
/** @brief Array of Per-Task MPU Register Values. Loaded on Task Context Restore
* @struct xMPU_SETTINGS
*
* @ingroup Task Context
* @ingroup Port Privilege
* @ingroup MPU Control
*/
xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS_IN_TCB ];
/** @brief Buffer that holds a Task's Context when being swapped out
* @struct xMPU_SETTINGS
* @ingroup Task Context
*/
uint32_t ulContext[ MAX_CONTEXT_SIZE ];
/** @brief Variable to hold FreeRTOS Privilege Settings
* @struct xMPU_SETTINGS
* @ingroup Task Context
* @ingroup MPU Control
*/
uint32_t ulTaskFlags;
/** @brief System Call Info structure that is stored in the TCB
* @struct xMPU_SETTINGS
* @ingroup Task Context
* @ingroup Port Privilege
*/
xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
} xMPU_SETTINGS;
#ifdef __cplusplus
} /* extern C */
#endif
#endif /* PORTMACRO_H */