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Alfred Gedeon 2020-07-01 22:27:40 -07:00 • committed by alfred gedeon
parent a5dbc2b1de
commit 718178c68a
406 changed files with 108795 additions and 106323 deletions
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469
croutine.c
View file

@ -29,32 +29,32 @@
#include "croutine.h" #include "croutine.h"
/* Remove the whole file is co-routines are not being used. */ /* Remove the whole file is co-routines are not being used. */
#if( configUSE_CO_ROUTINES != 0 ) #if ( configUSE_CO_ROUTINES != 0 )
/* /*
* Some kernel aware debuggers require data to be viewed to be global, rather * Some kernel aware debuggers require data to be viewed to be global, rather
* than file scope. * than file scope.
*/ */
#ifdef portREMOVE_STATIC_QUALIFIER #ifdef portREMOVE_STATIC_QUALIFIER
#define static #define static
#endif #endif
/* Lists for ready and blocked co-routines. --------------------*/ /* Lists for ready and blocked co-routines. --------------------*/
static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */ static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
static List_t * pxDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used. */ static List_t * pxDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used. */
static List_t * pxOverflowDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ static List_t * pxOverflowDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
/* Other file private variables. --------------------------------*/ /* Other file private variables. --------------------------------*/
CRCB_t * pxCurrentCoRoutine = NULL; CRCB_t * pxCurrentCoRoutine = NULL;
static UBaseType_t uxTopCoRoutineReadyPriority = 0; static UBaseType_t uxTopCoRoutineReadyPriority = 0;
static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
/* The initial state of the co-routine when it is created. */ /* The initial state of the co-routine when it is created. */
#define corINITIAL_STATE ( 0 ) #define corINITIAL_STATE ( 0 )
/* /*
* Place the co-routine represented by pxCRCB into the appropriate ready queue * Place the co-routine represented by pxCRCB into the appropriate ready queue
@ -63,20 +63,20 @@ static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
* This macro accesses the co-routine ready lists and therefore must not be * This macro accesses the co-routine ready lists and therefore must not be
* used from within an ISR. * used from within an ISR.
*/ */
#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ #define prvAddCoRoutineToReadyQueue( pxCRCB ) \
{ \ { \
if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \
{ \ { \
uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \
} \ } \
vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \
} }
/* /*
* Utility to ready all the lists used by the scheduler. This is called * Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first co-routine. * automatically upon the creation of the first co-routine.
*/ */
static void prvInitialiseCoRoutineLists( void ); static void prvInitialiseCoRoutineLists( void );
/* /*
* Co-routines that are readied by an interrupt cannot be placed directly into * Co-routines that are readied by an interrupt cannot be placed directly into
@ -84,7 +84,7 @@ static void prvInitialiseCoRoutineLists( void );
* in the pending ready list in order that they can later be moved to the ready * in the pending ready list in order that they can later be moved to the ready
* list by the co-routine scheduler. * list by the co-routine scheduler.
*/ */
static void prvCheckPendingReadyList( void ); static void prvCheckPendingReadyList( void );
/* /*
* Macro that looks at the list of co-routines that are currently delayed to * Macro that looks at the list of co-routines that are currently delayed to
@ -94,265 +94,268 @@ static void prvCheckPendingReadyList( void );
* meaning once one co-routine has been found whose timer has not expired * meaning once one co-routine has been found whose timer has not expired
* we need not look any further down the list. * we need not look any further down the list.
*/ */
static void prvCheckDelayedList( void ); static void prvCheckDelayedList( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ) BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
{ UBaseType_t uxPriority,
BaseType_t xReturn; UBaseType_t uxIndex )
CRCB_t *pxCoRoutine; {
BaseType_t xReturn;
CRCB_t * pxCoRoutine;
/* Allocate the memory that will store the co-routine control block. */ /* Allocate the memory that will store the co-routine control block. */
pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
if( pxCoRoutine )
{
/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
be created and the co-routine data structures need initialising. */
if( pxCurrentCoRoutine == NULL )
{
pxCurrentCoRoutine = pxCoRoutine;
prvInitialiseCoRoutineLists();
}
/* Check the priority is within limits. */ if( pxCoRoutine )
if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) {
{ /* If pxCurrentCoRoutine is NULL then this is the first co-routine to
uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; * be created and the co-routine data structures need initialising. */
} if( pxCurrentCoRoutine == NULL )
{
pxCurrentCoRoutine = pxCoRoutine;
prvInitialiseCoRoutineLists();
}
/* Fill out the co-routine control block from the function parameters. */ /* Check the priority is within limits. */
pxCoRoutine->uxState = corINITIAL_STATE; if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
pxCoRoutine->uxPriority = uxPriority; {
pxCoRoutine->uxIndex = uxIndex; uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; }
/* Initialise all the other co-routine control block parameters. */ /* Fill out the co-routine control block from the function parameters. */
vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); pxCoRoutine->uxState = corINITIAL_STATE;
vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); pxCoRoutine->uxPriority = uxPriority;
pxCoRoutine->uxIndex = uxIndex;
pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
/* Set the co-routine control block as a link back from the ListItem_t. /* Initialise all the other co-routine control block parameters. */
This is so we can get back to the containing CRCB from a generic item vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
in a list. */ vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
/* Event lists are always in priority order. */ /* Set the co-routine control block as a link back from the ListItem_t.
listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); * This is so we can get back to the containing CRCB from a generic item
* in a list. */
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
/* Now the co-routine has been initialised it can be added to the ready /* Event lists are always in priority order. */
list at the correct priority. */ listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
prvAddCoRoutineToReadyQueue( pxCoRoutine );
xReturn = pdPASS; /* Now the co-routine has been initialised it can be added to the ready
} * list at the correct priority. */
else prvAddCoRoutineToReadyQueue( pxCoRoutine );
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
return xReturn; xReturn = pdPASS;
} }
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
return xReturn;
}
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ) void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
{ List_t * pxEventList )
TickType_t xTimeToWake; {
TickType_t xTimeToWake;
/* Calculate the time to wake - this may overflow but this is /* Calculate the time to wake - this may overflow but this is
not a problem. */ * not a problem. */
xTimeToWake = xCoRoutineTickCount + xTicksToDelay; xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
/* We must remove ourselves from the ready list before adding /* We must remove ourselves from the ready list before adding
ourselves to the blocked list as the same list item is used for * ourselves to the blocked list as the same list item is used for
both lists. */ * both lists. */
( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
/* The list item will be inserted in wake time order. */ /* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
if( xTimeToWake < xCoRoutineTickCount ) if( xTimeToWake < xCoRoutineTickCount )
{ {
/* Wake time has overflowed. Place this item in the /* Wake time has overflowed. Place this item in the
overflow list. */ * overflow list. */
vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
} }
else else
{ {
/* The wake time has not overflowed, so we can use the /* The wake time has not overflowed, so we can use the
current block list. */ * current block list. */
vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
} }
if( pxEventList ) if( pxEventList )
{ {
/* Also add the co-routine to an event list. If this is done then the /* Also add the co-routine to an event list. If this is done then the
function must be called with interrupts disabled. */ * function must be called with interrupts disabled. */
vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvCheckPendingReadyList( void ) static void prvCheckPendingReadyList( void )
{ {
/* Are there any co-routines waiting to get moved to the ready list? These /* Are there any co-routines waiting to get moved to the ready list? These
are co-routines that have been readied by an ISR. The ISR cannot access * are co-routines that have been readied by an ISR. The ISR cannot access
the ready lists itself. */ * the ready lists itself. */
while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
{ {
CRCB_t *pxUnblockedCRCB; CRCB_t * pxUnblockedCRCB;
/* The pending ready list can be accessed by an ISR. */ /* The pending ready list can be accessed by an ISR. */
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
{ {
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) );
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
} }
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvCheckDelayedList( void ) static void prvCheckDelayedList( void )
{ {
CRCB_t *pxCRCB; CRCB_t * pxCRCB;
xPassedTicks = xTaskGetTickCount() - xLastTickCount; xPassedTicks = xTaskGetTickCount() - xLastTickCount;
while( xPassedTicks )
{
xCoRoutineTickCount++;
xPassedTicks--;
/* If the tick count has overflowed we need to swap the ready lists. */ while( xPassedTicks )
if( xCoRoutineTickCount == 0 ) {
{ xCoRoutineTickCount++;
List_t * pxTemp; xPassedTicks--;
/* Tick count has overflowed so we need to swap the delay lists. If there are /* If the tick count has overflowed we need to swap the ready lists. */
any items in pxDelayedCoRoutineList here then there is an error! */ if( xCoRoutineTickCount == 0 )
pxTemp = pxDelayedCoRoutineList; {
pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; List_t * pxTemp;
pxOverflowDelayedCoRoutineList = pxTemp;
}
/* See if this tick has made a timeout expire. */ /* Tick count has overflowed so we need to swap the delay lists. If there are
while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) * any items in pxDelayedCoRoutineList here then there is an error! */
{ pxTemp = pxDelayedCoRoutineList;
pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
pxOverflowDelayedCoRoutineList = pxTemp;
}
if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) /* See if this tick has made a timeout expire. */
{ while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
/* Timeout not yet expired. */ {
break; pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
}
portDISABLE_INTERRUPTS(); if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
{ {
/* The event could have occurred just before this critical /* Timeout not yet expired. */
section. If this is the case then the generic list item will break;
have been moved to the pending ready list and the following }
line is still valid. Also the pvContainer parameter will have
been set to NULL so the following lines are also valid. */
( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
/* Is the co-routine waiting on an event also? */ portDISABLE_INTERRUPTS();
if( pxCRCB->xEventListItem.pxContainer ) {
{ /* The event could have occurred just before this critical
( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); * section. If this is the case then the generic list item will
} * have been moved to the pending ready list and the following
} * line is still valid. Also the pvContainer parameter will have
portENABLE_INTERRUPTS(); * been set to NULL so the following lines are also valid. */
( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
prvAddCoRoutineToReadyQueue( pxCRCB ); /* Is the co-routine waiting on an event also? */
} if( pxCRCB->xEventListItem.pxContainer )
} {
( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
}
}
portENABLE_INTERRUPTS();
xLastTickCount = xCoRoutineTickCount; prvAddCoRoutineToReadyQueue( pxCRCB );
} }
}
xLastTickCount = xCoRoutineTickCount;
}
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vCoRoutineSchedule( void ) void vCoRoutineSchedule( void )
{ {
/* Only run a co-routine after prvInitialiseCoRoutineLists() has been /* Only run a co-routine after prvInitialiseCoRoutineLists() has been
called. prvInitialiseCoRoutineLists() is called automatically when a * called. prvInitialiseCoRoutineLists() is called automatically when a
co-routine is created. */ * co-routine is created. */
if( pxDelayedCoRoutineList != NULL ) if( pxDelayedCoRoutineList != NULL )
{ {
/* See if any co-routines readied by events need moving to the ready lists. */ /* See if any co-routines readied by events need moving to the ready lists. */
prvCheckPendingReadyList(); prvCheckPendingReadyList();
/* See if any delayed co-routines have timed out. */ /* See if any delayed co-routines have timed out. */
prvCheckDelayedList(); prvCheckDelayedList();
/* Find the highest priority queue that contains ready co-routines. */ /* Find the highest priority queue that contains ready co-routines. */
while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
{ {
if( uxTopCoRoutineReadyPriority == 0 ) if( uxTopCoRoutineReadyPriority == 0 )
{ {
/* No more co-routines to check. */ /* No more co-routines to check. */
return; return;
} }
--uxTopCoRoutineReadyPriority;
}
/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines --uxTopCoRoutineReadyPriority;
of the same priority get an equal share of the processor time. */ }
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
/* Call the co-routine. */ /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); * of the same priority get an equal share of the processor time. */
} listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
return; /* Call the co-routine. */
} ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
}
}
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvInitialiseCoRoutineLists( void ) static void prvInitialiseCoRoutineLists( void )
{ {
UBaseType_t uxPriority; UBaseType_t uxPriority;
for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
{ {
vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
} }
vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 ); vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
/* Start with pxDelayedCoRoutineList using list1 and the /* Start with pxDelayedCoRoutineList using list1 and the
pxOverflowDelayedCoRoutineList using list2. */ * pxOverflowDelayedCoRoutineList using list2. */
pxDelayedCoRoutineList = &xDelayedCoRoutineList1; pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ) BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList )
{ {
CRCB_t *pxUnblockedCRCB; CRCB_t * pxUnblockedCRCB;
BaseType_t xReturn; BaseType_t xReturn;
/* This function is called from within an interrupt. It can only access /* This function is called from within an interrupt. It can only access
event lists and the pending ready list. This function assumes that a * event lists and the pending ready list. This function assumes that a
check has already been made to ensure pxEventList is not empty. */ * check has already been made to ensure pxEventList is not empty. */
pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
{ {
xReturn = pdTRUE; xReturn = pdTRUE;
} }
else else
{ {
xReturn = pdFALSE; xReturn = pdFALSE;
} }
return xReturn; return xReturn;
} }
#endif /* configUSE_CO_ROUTINES == 0 */ #endif /* configUSE_CO_ROUTINES == 0 */

1103
event_groups.c
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File diff suppressed because it is too large Load diff

1851
include/FreeRTOS.h
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File diff suppressed because it is too large Load diff

113
include/StackMacros.h
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@ -28,7 +28,7 @@
#define STACK_MACROS_H #define STACK_MACROS_H
#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */ #ifndef _MSC_VER /* Visual Studio doesn't support #warning. */
#warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in future released. #warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in future released.
#endif #endif
/* /*
@ -47,86 +47,85 @@
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
/* Only the current stack state is to be checked. */ /* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
/* Is the currently saved stack pointer within the stack limit? */ \ /* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
/* Only the current stack state is to be checked. */ /* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
\ \
/* Is the currently saved stack pointer within the stack limit? */ \ /* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \ if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \ const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \ const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
\ \
if( ( pulStack[ 0 ] != ulCheckValue ) || \ if( ( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \ ( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \ ( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \ ( pulStack[ 3 ] != ulCheckValue ) ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \ int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
\ \
\ \
pcEndOfStack -= sizeof( ucExpectedStackBytes ); \ pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
\ \
/* Has the extremity of the task stack ever been written over? */ \ /* Has the extremity of the task stack ever been written over? */ \
if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */ /* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW #ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW() #define taskCHECK_FOR_STACK_OVERFLOW()
#endif #endif
#endif /* STACK_MACROS_H */ #endif /* STACK_MACROS_H */

338
include/atomic.h
View file

@ -34,18 +34,18 @@
*/ */
#ifndef ATOMIC_H #ifndef ATOMIC_H
#define ATOMIC_H #define ATOMIC_H
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include atomic.h" #error "include FreeRTOS.h must appear in source files before include atomic.h"
#endif #endif
/* Standard includes. */ /* Standard includes. */
#include <stdint.h> #include <stdint.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* /*
* Port specific definitions -- entering/exiting critical section. * Port specific definitions -- entering/exiting critical section.
@ -55,22 +55,22 @@ extern "C" {
* ATOMIC_ENTER_CRITICAL(). * ATOMIC_ENTER_CRITICAL().
* *
*/ */
#if defined( portSET_INTERRUPT_MASK_FROM_ISR ) #if defined( portSET_INTERRUPT_MASK_FROM_ISR )
/* Nested interrupt scheme is supported in this port. */ /* Nested interrupt scheme is supported in this port. */
#define ATOMIC_ENTER_CRITICAL() \ #define ATOMIC_ENTER_CRITICAL() \
UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
#define ATOMIC_EXIT_CRITICAL() \ #define ATOMIC_EXIT_CRITICAL() \
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
#else #else
/* Nested interrupt scheme is NOT supported in this port. */ /* Nested interrupt scheme is NOT supported in this port. */
#define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL()
#define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL()
#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */ #endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
/* /*
* Port specific definition -- "always inline". * Port specific definition -- "always inline".
@ -79,12 +79,12 @@ extern "C" {
* for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h, * for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h,
* instead of resulting error, simply define it away. * instead of resulting error, simply define it away.
*/ */
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE #define portFORCE_INLINE
#endif #endif
#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */ #define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */
#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */ #define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */
/*----------------------------- Swap && CAS ------------------------------*/ /*----------------------------- Swap && CAS ------------------------------*/
@ -103,28 +103,28 @@ extern "C" {
* @note This function only swaps *pulDestination with ulExchange, if previous * @note This function only swaps *pulDestination with ulExchange, if previous
* *pulDestination value equals ulComparand. * *pulDestination value equals ulComparand.
*/ */
static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination, static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
uint32_t ulExchange, uint32_t ulExchange,
uint32_t ulComparand ) uint32_t ulComparand )
{ {
uint32_t ulReturnValue; uint32_t ulReturnValue;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
if( *pulDestination == ulComparand ) if( *pulDestination == ulComparand )
{ {
*pulDestination = ulExchange; *pulDestination = ulExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
} }
else else
{ {
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
} }
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulReturnValue; return ulReturnValue;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -139,20 +139,20 @@ uint32_t ulReturnValue;
* *
* @return The initial value of *ppvDestination. * @return The initial value of *ppvDestination.
*/ */
static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination, static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange ) void * pvExchange )
{ {
void * pReturnValue; void * pReturnValue;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
pReturnValue = *ppvDestination; pReturnValue = *ppvDestination;
*ppvDestination = pvExchange; *ppvDestination = pvExchange;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return pReturnValue; return pReturnValue;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -171,24 +171,24 @@ void * pReturnValue;
* @note This function only swaps *ppvDestination with pvExchange, if previous * @note This function only swaps *ppvDestination with pvExchange, if previous
* *ppvDestination value equals pvComparand. * *ppvDestination value equals pvComparand.
*/ */
static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination, static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
void * pvExchange, void * pvExchange,
void * pvComparand ) void * pvComparand )
{ {
uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
if( *ppvDestination == pvComparand ) if( *ppvDestination == pvComparand )
{ {
*ppvDestination = pvExchange; *ppvDestination = pvExchange;
ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
} }
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulReturnValue; return ulReturnValue;
} }
/*----------------------------- Arithmetic ------------------------------*/ /*----------------------------- Arithmetic ------------------------------*/
@ -204,20 +204,20 @@ uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
* *
* @return previous *pulAddend value. * @return previous *pulAddend value.
*/ */
static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
uint32_t ulCount ) uint32_t ulCount )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulAddend; ulCurrent = *pulAddend;
*pulAddend += ulCount; *pulAddend += ulCount;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -232,20 +232,20 @@ static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
* *
* @return previous *pulAddend value. * @return previous *pulAddend value.
*/ */
static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend, static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
uint32_t ulCount ) uint32_t ulCount )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulAddend; ulCurrent = *pulAddend;
*pulAddend -= ulCount; *pulAddend -= ulCount;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,19 +258,19 @@ static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAdd
* *
* @return *pulAddend value before increment. * @return *pulAddend value before increment.
*/ */
static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend ) static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulAddend; ulCurrent = *pulAddend;
*pulAddend += 1; *pulAddend += 1;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -283,19 +283,19 @@ uint32_t ulCurrent;
* *
* @return *pulAddend value before decrement. * @return *pulAddend value before decrement.
*/ */
static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend ) static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulAddend; ulCurrent = *pulAddend;
*pulAddend -= 1; *pulAddend -= 1;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*----------------------------- Bitwise Logical ------------------------------*/ /*----------------------------- Bitwise Logical ------------------------------*/
@ -310,20 +310,20 @@ uint32_t ulCurrent;
* *
* @return The original value of *pulDestination. * @return The original value of *pulDestination.
*/ */
static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination, static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue ) uint32_t ulValue )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulDestination; ulCurrent = *pulDestination;
*pulDestination |= ulValue; *pulDestination |= ulValue;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -337,20 +337,20 @@ uint32_t ulCurrent;
* *
* @return The original value of *pulDestination. * @return The original value of *pulDestination.
*/ */
static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination, static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue ) uint32_t ulValue )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulDestination; ulCurrent = *pulDestination;
*pulDestination &= ulValue; *pulDestination &= ulValue;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -364,20 +364,20 @@ uint32_t ulCurrent;
* *
* @return The original value of *pulDestination. * @return The original value of *pulDestination.
*/ */
static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination, static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
uint32_t ulValue ) uint32_t ulValue )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulDestination; ulCurrent = *pulDestination;
*pulDestination = ~( ulCurrent & ulValue ); *pulDestination = ~( ulCurrent & ulValue );
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -391,23 +391,23 @@ uint32_t ulCurrent;
* *
* @return The original value of *pulDestination. * @return The original value of *pulDestination.
*/ */
static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination, static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
uint32_t ulValue ) uint32_t ulValue )
{ {
uint32_t ulCurrent; uint32_t ulCurrent;
ATOMIC_ENTER_CRITICAL(); ATOMIC_ENTER_CRITICAL();
{ {
ulCurrent = *pulDestination; ulCurrent = *pulDestination;
*pulDestination ^= ulValue; *pulDestination ^= ulValue;
} }
ATOMIC_EXIT_CRITICAL(); ATOMIC_EXIT_CRITICAL();
return ulCurrent; return ulCurrent;
} }
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* ATOMIC_H */ #endif /* ATOMIC_H */

796
include/croutine.h
View file

@ -25,44 +25,45 @@
*/ */
#ifndef CO_ROUTINE_H #ifndef CO_ROUTINE_H
#define CO_ROUTINE_H #define CO_ROUTINE_H
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include croutine.h" #error "include FreeRTOS.h must appear in source files before include croutine.h"
#endif #endif
#include "list.h" #include "list.h"
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Used to hide the implementation of the co-routine control block. The /* Used to hide the implementation of the co-routine control block. The
control block structure however has to be included in the header due to * control block structure however has to be included in the header due to
the macro implementation of the co-routine functionality. */ * the macro implementation of the co-routine functionality. */
typedef void * CoRoutineHandle_t; typedef void * CoRoutineHandle_t;
/* Defines the prototype to which co-routine functions must conform. */ /* Defines the prototype to which co-routine functions must conform. */
typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t ); typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t,
UBaseType_t );
typedef struct corCoRoutineControlBlock typedef struct corCoRoutineControlBlock
{ {
crCOROUTINE_CODE pxCoRoutineFunction; crCOROUTINE_CODE pxCoRoutineFunction;
ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */ ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
uint16_t uxState; /*< Used internally by the co-routine implementation. */ uint16_t uxState; /*< Used internally by the co-routine implementation. */
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */ } CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
/** /**
* croutine. h * croutine. h
*<pre> *<pre>
BaseType_t xCoRoutineCreate( * BaseType_t xCoRoutineCreate(
crCOROUTINE_CODE pxCoRoutineCode, * crCOROUTINE_CODE pxCoRoutineCode,
UBaseType_t uxPriority, * UBaseType_t uxPriority,
UBaseType_t uxIndex * UBaseType_t uxIndex
);</pre> * );</pre>
* *
* Create a new co-routine and add it to the list of co-routines that are * Create a new co-routine and add it to the list of co-routines that are
* ready to run. * ready to run.
@ -82,58 +83,60 @@ typedef struct corCoRoutineControlBlock
* list, otherwise an error code defined with ProjDefs.h. * list, otherwise an error code defined with ProjDefs.h.
* *
* Example usage: * Example usage:
<pre> * <pre>
// Co-routine to be created. * // Co-routine to be created.
void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// Variables in co-routines must be declared static if they must maintain value across a blocking call. * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
// This may not be necessary for const variables. * // This may not be necessary for const variables.
static const char cLedToFlash[ 2 ] = { 5, 6 }; * static const char cLedToFlash[ 2 ] = { 5, 6 };
static const TickType_t uxFlashRates[ 2 ] = { 200, 400 }; * static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
*
// Must start every co-routine with a call to crSTART(); * // Must start every co-routine with a call to crSTART();
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// This co-routine just delays for a fixed period, then toggles * // This co-routine just delays for a fixed period, then toggles
// an LED. Two co-routines are created using this function, so * // an LED. Two co-routines are created using this function, so
// the uxIndex parameter is used to tell the co-routine which * // the uxIndex parameter is used to tell the co-routine which
// LED to flash and how int32_t to delay. This assumes xQueue has * // LED to flash and how int32_t to delay. This assumes xQueue has
// already been created. * // already been created.
vParTestToggleLED( cLedToFlash[ uxIndex ] ); * vParTestToggleLED( cLedToFlash[ uxIndex ] );
crDELAY( xHandle, uxFlashRates[ uxIndex ] ); * crDELAY( xHandle, uxFlashRates[ uxIndex ] );
} * }
*
// Must end every co-routine with a call to crEND(); * // Must end every co-routine with a call to crEND();
crEND(); * crEND();
} * }
*
// Function that creates two co-routines. * // Function that creates two co-routines.
void vOtherFunction( void ) * void vOtherFunction( void )
{ * {
uint8_t ucParameterToPass; * uint8_t ucParameterToPass;
TaskHandle_t xHandle; * TaskHandle_t xHandle;
*
// Create two co-routines at priority 0. The first is given index 0 * // Create two co-routines at priority 0. The first is given index 0
// so (from the code above) toggles LED 5 every 200 ticks. The second * // so (from the code above) toggles LED 5 every 200 ticks. The second
// is given index 1 so toggles LED 6 every 400 ticks. * // is given index 1 so toggles LED 6 every 400 ticks.
for( uxIndex = 0; uxIndex < 2; uxIndex++ ) * for( uxIndex = 0; uxIndex < 2; uxIndex++ )
{ * {
xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex ); * xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
} * }
} * }
</pre> * </pre>
* \defgroup xCoRoutineCreate xCoRoutineCreate * \defgroup xCoRoutineCreate xCoRoutineCreate
* \ingroup Tasks * \ingroup Tasks
*/ */
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ); BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
UBaseType_t uxPriority,
UBaseType_t uxIndex );
/** /**
* croutine. h * croutine. h
*<pre> *<pre>
void vCoRoutineSchedule( void );</pre> * void vCoRoutineSchedule( void );</pre>
* *
* Run a co-routine. * Run a co-routine.
* *
@ -147,103 +150,109 @@ BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPri
* hook). * hook).
* *
* Example usage: * Example usage:
<pre> * <pre>
// This idle task hook will schedule a co-routine each time it is called. * // This idle task hook will schedule a co-routine each time it is called.
// The rest of the idle task will execute between co-routine calls. * // The rest of the idle task will execute between co-routine calls.
void vApplicationIdleHook( void ) * void vApplicationIdleHook( void )
{ * {
vCoRoutineSchedule(); * vCoRoutineSchedule();
} * }
*
// Alternatively, if you do not require any other part of the idle task to * // Alternatively, if you do not require any other part of the idle task to
// execute, the idle task hook can call vCoRoutineSchedule() within an * // execute, the idle task hook can call vCoRoutineSchedule() within an
// infinite loop. * // infinite loop.
void vApplicationIdleHook( void ) * void vApplicationIdleHook( void )
{ * {
for( ;; ) * for( ;; )
{ * {
vCoRoutineSchedule(); * vCoRoutineSchedule();
} * }
} * }
</pre> * </pre>
* \defgroup vCoRoutineSchedule vCoRoutineSchedule * \defgroup vCoRoutineSchedule vCoRoutineSchedule
* \ingroup Tasks * \ingroup Tasks
*/ */
void vCoRoutineSchedule( void ); void vCoRoutineSchedule( void );
/** /**
* croutine. h * croutine. h
* <pre> * <pre>
crSTART( CoRoutineHandle_t xHandle );</pre> * crSTART( CoRoutineHandle_t xHandle );</pre>
* *
* This macro MUST always be called at the start of a co-routine function. * This macro MUST always be called at the start of a co-routine function.
* *
* Example usage: * Example usage:
<pre> * <pre>
// Co-routine to be created. * // Co-routine to be created.
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// Variables in co-routines must be declared static if they must maintain value across a blocking call. * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
static int32_t ulAVariable; * static int32_t ulAVariable;
*
// Must start every co-routine with a call to crSTART(); * // Must start every co-routine with a call to crSTART();
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// Co-routine functionality goes here. * // Co-routine functionality goes here.
} * }
*
// Must end every co-routine with a call to crEND(); * // Must end every co-routine with a call to crEND();
crEND(); * crEND();
}</pre> * }</pre>
* \defgroup crSTART crSTART * \defgroup crSTART crSTART
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0: #define crSTART( pxCRCB ) \
switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \
case 0:
/** /**
* croutine. h * croutine. h
* <pre> * <pre>
crEND();</pre> * crEND();</pre>
* *
* This macro MUST always be called at the end of a co-routine function. * This macro MUST always be called at the end of a co-routine function.
* *
* Example usage: * Example usage:
<pre> * <pre>
// Co-routine to be created. * // Co-routine to be created.
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// Variables in co-routines must be declared static if they must maintain value across a blocking call. * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
static int32_t ulAVariable; * static int32_t ulAVariable;
*
// Must start every co-routine with a call to crSTART(); * // Must start every co-routine with a call to crSTART();
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// Co-routine functionality goes here. * // Co-routine functionality goes here.
} * }
*
// Must end every co-routine with a call to crEND(); * // Must end every co-routine with a call to crEND();
crEND(); * crEND();
}</pre> * }</pre>
* \defgroup crSTART crSTART * \defgroup crSTART crSTART
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crEND() } #define crEND() }
/* /*
* These macros are intended for internal use by the co-routine implementation * These macros are intended for internal use by the co-routine implementation
* only. The macros should not be used directly by application writers. * only. The macros should not be used directly by application writers.
*/ */
#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): #define crSET_STATE0( xHandle ) \
#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): ( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \
case ( __LINE__ * 2 ):
#define crSET_STATE1( xHandle ) \
( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \
case ( ( __LINE__ * 2 ) + 1 ):
/** /**
* croutine. h * croutine. h
*<pre> *<pre>
crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre> * crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
* *
* Delay a co-routine for a fixed period of time. * Delay a co-routine for a fixed period of time.
* *
@ -260,48 +269,48 @@ void vCoRoutineSchedule( void );
* can be used to convert ticks to milliseconds. * can be used to convert ticks to milliseconds.
* *
* Example usage: * Example usage:
<pre> * <pre>
// Co-routine to be created. * // Co-routine to be created.
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// Variables in co-routines must be declared static if they must maintain value across a blocking call. * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
// This may not be necessary for const variables. * // This may not be necessary for const variables.
// We are to delay for 200ms. * // We are to delay for 200ms.
static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS; * static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
*
// Must start every co-routine with a call to crSTART(); * // Must start every co-routine with a call to crSTART();
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// Delay for 200ms. * // Delay for 200ms.
crDELAY( xHandle, xDelayTime ); * crDELAY( xHandle, xDelayTime );
*
// Do something here. * // Do something here.
} * }
*
// Must end every co-routine with a call to crEND(); * // Must end every co-routine with a call to crEND();
crEND(); * crEND();
}</pre> * }</pre>
* \defgroup crDELAY crDELAY * \defgroup crDELAY crDELAY
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crDELAY( xHandle, xTicksToDelay ) \ #define crDELAY( xHandle, xTicksToDelay ) \
if( ( xTicksToDelay ) > 0 ) \ if( ( xTicksToDelay ) > 0 ) \
{ \ { \
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
} \ } \
crSET_STATE0( ( xHandle ) ); crSET_STATE0( ( xHandle ) );
/** /**
* <pre> * <pre>
crQUEUE_SEND( * crQUEUE_SEND(
CoRoutineHandle_t xHandle, * CoRoutineHandle_t xHandle,
QueueHandle_t pxQueue, * QueueHandle_t pxQueue,
void *pvItemToQueue, * void *pvItemToQueue,
TickType_t xTicksToWait, * TickType_t xTicksToWait,
BaseType_t *pxResult * BaseType_t *pxResult
)</pre> * )</pre>
* *
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
@ -341,66 +350,66 @@ void vCoRoutineSchedule( void );
* error defined within ProjDefs.h. * error defined within ProjDefs.h.
* *
* Example usage: * Example usage:
<pre> * <pre>
// Co-routine function that blocks for a fixed period then posts a number onto * // Co-routine function that blocks for a fixed period then posts a number onto
// a queue. * // a queue.
static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// Variables in co-routines must be declared static if they must maintain value across a blocking call. * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
static BaseType_t xNumberToPost = 0; * static BaseType_t xNumberToPost = 0;
static BaseType_t xResult; * static BaseType_t xResult;
*
// Co-routines must begin with a call to crSTART(). * // Co-routines must begin with a call to crSTART().
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// This assumes the queue has already been created. * // This assumes the queue has already been created.
crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult ); * crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
*
if( xResult != pdPASS ) * if( xResult != pdPASS )
{ * {
// The message was not posted! * // The message was not posted!
} * }
*
// Increment the number to be posted onto the queue. * // Increment the number to be posted onto the queue.
xNumberToPost++; * xNumberToPost++;
*
// Delay for 100 ticks. * // Delay for 100 ticks.
crDELAY( xHandle, 100 ); * crDELAY( xHandle, 100 );
} * }
*
// Co-routines must end with a call to crEND(). * // Co-routines must end with a call to crEND().
crEND(); * crEND();
}</pre> * }</pre>
* \defgroup crQUEUE_SEND crQUEUE_SEND * \defgroup crQUEUE_SEND crQUEUE_SEND
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ #define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
{ \ { \
*( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \ *( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \ if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \ { \
crSET_STATE0( ( xHandle ) ); \ crSET_STATE0( ( xHandle ) ); \
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \ *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
} \ } \
if( *pxResult == errQUEUE_YIELD ) \ if( *pxResult == errQUEUE_YIELD ) \
{ \ { \
crSET_STATE1( ( xHandle ) ); \ crSET_STATE1( ( xHandle ) ); \
*pxResult = pdPASS; \ *pxResult = pdPASS; \
} \ } \
} }
/** /**
* croutine. h * croutine. h
* <pre> * <pre>
crQUEUE_RECEIVE( * crQUEUE_RECEIVE(
CoRoutineHandle_t xHandle, * CoRoutineHandle_t xHandle,
QueueHandle_t pxQueue, * QueueHandle_t pxQueue,
void *pvBuffer, * void *pvBuffer,
TickType_t xTicksToWait, * TickType_t xTicksToWait,
BaseType_t *pxResult * BaseType_t *pxResult
)</pre> * )</pre>
* *
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
@ -439,58 +448,58 @@ void vCoRoutineSchedule( void );
* an error code as defined within ProjDefs.h. * an error code as defined within ProjDefs.h.
* *
* Example usage: * Example usage:
<pre> * <pre>
// A co-routine receives the number of an LED to flash from a queue. It * // A co-routine receives the number of an LED to flash from a queue. It
// blocks on the queue until the number is received. * // blocks on the queue until the number is received.
static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// Variables in co-routines must be declared static if they must maintain value across a blocking call. * // Variables in co-routines must be declared static if they must maintain value across a blocking call.
static BaseType_t xResult; * static BaseType_t xResult;
static UBaseType_t uxLEDToFlash; * static UBaseType_t uxLEDToFlash;
*
// All co-routines must start with a call to crSTART(). * // All co-routines must start with a call to crSTART().
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// Wait for data to become available on the queue. * // Wait for data to become available on the queue.
crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); * crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
*
if( xResult == pdPASS ) * if( xResult == pdPASS )
{ * {
// We received the LED to flash - flash it! * // We received the LED to flash - flash it!
vParTestToggleLED( uxLEDToFlash ); * vParTestToggleLED( uxLEDToFlash );
} * }
} * }
*
crEND(); * crEND();
}</pre> * }</pre>
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ #define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
{ \ { \
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \ *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \ if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \ { \
crSET_STATE0( ( xHandle ) ); \ crSET_STATE0( ( xHandle ) ); \
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \ *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \
} \ } \
if( *( pxResult ) == errQUEUE_YIELD ) \ if( *( pxResult ) == errQUEUE_YIELD ) \
{ \ { \
crSET_STATE1( ( xHandle ) ); \ crSET_STATE1( ( xHandle ) ); \
*( pxResult ) = pdPASS; \ *( pxResult ) = pdPASS; \
} \ } \
} }
/** /**
* croutine. h * croutine. h
* <pre> * <pre>
crQUEUE_SEND_FROM_ISR( * crQUEUE_SEND_FROM_ISR(
QueueHandle_t pxQueue, * QueueHandle_t pxQueue,
void *pvItemToQueue, * void *pvItemToQueue,
BaseType_t xCoRoutinePreviouslyWoken * BaseType_t xCoRoutinePreviouslyWoken
)</pre> * )</pre>
* *
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
@ -525,69 +534,69 @@ void vCoRoutineSchedule( void );
* the ISR. * the ISR.
* *
* Example usage: * Example usage:
<pre> * <pre>
// A co-routine that blocks on a queue waiting for characters to be received. * // A co-routine that blocks on a queue waiting for characters to be received.
static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
char cRxedChar; * char cRxedChar;
BaseType_t xResult; * BaseType_t xResult;
*
// All co-routines must start with a call to crSTART(). * // All co-routines must start with a call to crSTART().
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// Wait for data to become available on the queue. This assumes the * // Wait for data to become available on the queue. This assumes the
// queue xCommsRxQueue has already been created! * // queue xCommsRxQueue has already been created!
crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); * crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
*
// Was a character received? * // Was a character received?
if( xResult == pdPASS ) * if( xResult == pdPASS )
{ * {
// Process the character here. * // Process the character here.
} * }
} * }
*
// All co-routines must end with a call to crEND(). * // All co-routines must end with a call to crEND().
crEND(); * crEND();
} * }
*
// An ISR that uses a queue to send characters received on a serial port to * // An ISR that uses a queue to send characters received on a serial port to
// a co-routine. * // a co-routine.
void vUART_ISR( void ) * void vUART_ISR( void )
{ * {
char cRxedChar; * char cRxedChar;
BaseType_t xCRWokenByPost = pdFALSE; * BaseType_t xCRWokenByPost = pdFALSE;
*
// We loop around reading characters until there are none left in the UART. * // We loop around reading characters until there are none left in the UART.
while( UART_RX_REG_NOT_EMPTY() ) * while( UART_RX_REG_NOT_EMPTY() )
{ * {
// Obtain the character from the UART. * // Obtain the character from the UART.
cRxedChar = UART_RX_REG; * cRxedChar = UART_RX_REG;
*
// Post the character onto a queue. xCRWokenByPost will be pdFALSE * // Post the character onto a queue. xCRWokenByPost will be pdFALSE
// the first time around the loop. If the post causes a co-routine * // the first time around the loop. If the post causes a co-routine
// to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE. * // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
// In this manner we can ensure that if more than one co-routine is * // In this manner we can ensure that if more than one co-routine is
// blocked on the queue only one is woken by this ISR no matter how * // blocked on the queue only one is woken by this ISR no matter how
// many characters are posted to the queue. * // many characters are posted to the queue.
xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost ); * xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
} * }
}</pre> * }</pre>
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) ) #define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
/** /**
* croutine. h * croutine. h
* <pre> * <pre>
crQUEUE_SEND_FROM_ISR( * crQUEUE_SEND_FROM_ISR(
QueueHandle_t pxQueue, * QueueHandle_t pxQueue,
void *pvBuffer, * void *pvBuffer,
BaseType_t * pxCoRoutineWoken * BaseType_t * pxCoRoutineWoken
)</pre> * )</pre>
* *
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
@ -622,75 +631,75 @@ void vCoRoutineSchedule( void );
* pdFALSE. * pdFALSE.
* *
* Example usage: * Example usage:
<pre> * <pre>
// A co-routine that posts a character to a queue then blocks for a fixed * // A co-routine that posts a character to a queue then blocks for a fixed
// period. The character is incremented each time. * // period. The character is incremented each time.
static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) * static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{ * {
// cChar holds its value while this co-routine is blocked and must therefore * // cChar holds its value while this co-routine is blocked and must therefore
// be declared static. * // be declared static.
static char cCharToTx = 'a'; * static char cCharToTx = 'a';
BaseType_t xResult; * BaseType_t xResult;
*
// All co-routines must start with a call to crSTART(). * // All co-routines must start with a call to crSTART().
crSTART( xHandle ); * crSTART( xHandle );
*
for( ;; ) * for( ;; )
{ * {
// Send the next character to the queue. * // Send the next character to the queue.
crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult ); * crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
*
if( xResult == pdPASS ) * if( xResult == pdPASS )
{ * {
// The character was successfully posted to the queue. * // The character was successfully posted to the queue.
} * }
else * else
{ * {
// Could not post the character to the queue. * // Could not post the character to the queue.
} * }
*
// Enable the UART Tx interrupt to cause an interrupt in this * // Enable the UART Tx interrupt to cause an interrupt in this
// hypothetical UART. The interrupt will obtain the character * // hypothetical UART. The interrupt will obtain the character
// from the queue and send it. * // from the queue and send it.
ENABLE_RX_INTERRUPT(); * ENABLE_RX_INTERRUPT();
*
// Increment to the next character then block for a fixed period. * // Increment to the next character then block for a fixed period.
// cCharToTx will maintain its value across the delay as it is * // cCharToTx will maintain its value across the delay as it is
// declared static. * // declared static.
cCharToTx++; * cCharToTx++;
if( cCharToTx > 'x' ) * if( cCharToTx > 'x' )
{ * {
cCharToTx = 'a'; * cCharToTx = 'a';
} * }
crDELAY( 100 ); * crDELAY( 100 );
} * }
*
// All co-routines must end with a call to crEND(). * // All co-routines must end with a call to crEND().
crEND(); * crEND();
} * }
*
// An ISR that uses a queue to receive characters to send on a UART. * // An ISR that uses a queue to receive characters to send on a UART.
void vUART_ISR( void ) * void vUART_ISR( void )
{ * {
char cCharToTx; * char cCharToTx;
BaseType_t xCRWokenByPost = pdFALSE; * BaseType_t xCRWokenByPost = pdFALSE;
*
while( UART_TX_REG_EMPTY() ) * while( UART_TX_REG_EMPTY() )
{ * {
// Are there any characters in the queue waiting to be sent? * // Are there any characters in the queue waiting to be sent?
// xCRWokenByPost will automatically be set to pdTRUE if a co-routine * // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
// is woken by the post - ensuring that only a single co-routine is * // is woken by the post - ensuring that only a single co-routine is
// woken no matter how many times we go around this loop. * // woken no matter how many times we go around this loop.
if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) ) * if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
{ * {
SEND_CHARACTER( cCharToTx ); * SEND_CHARACTER( cCharToTx );
} * }
} * }
}</pre> * }</pre>
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
* \ingroup Tasks * \ingroup Tasks
*/ */
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) ) #define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
/* /*
* This function is intended for internal use by the co-routine macros only. * This function is intended for internal use by the co-routine macros only.
@ -701,7 +710,8 @@ void vCoRoutineSchedule( void );
* Removes the current co-routine from its ready list and places it in the * Removes the current co-routine from its ready list and places it in the
* appropriate delayed list. * appropriate delayed list.
*/ */
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ); void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
List_t * pxEventList );
/* /*
* This function is intended for internal use by the queue implementation only. * This function is intended for internal use by the queue implementation only.
@ -710,10 +720,10 @@ void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
* Removes the highest priority co-routine from the event list and places it in * Removes the highest priority co-routine from the event list and places it in
* the pending ready list. * the pending ready list.
*/ */
BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ); BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList );
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* CO_ROUTINE_H */ #endif /* CO_ROUTINE_H */

157
include/deprecated_definitions.h
View file

@ -29,158 +29,158 @@
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a /* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct * pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour * portmacro.h file for the port being used. That scheme was deprecated in favour
of setting the compiler's include path such that it found the correct * of setting the compiler's include path such that it found the correct
portmacro.h file - removing the need for the constant and allowing the * portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used. The * portmacro.h file to be located anywhere in relation to the port being used. The
definitions below remain in the code for backward compatibility only. New * definitions below remain in the code for backward compatibility only. New
projects should not use them. */ * projects should not use them. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT #ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
typedef void ( __interrupt __far *pxISR )(); typedef void ( __interrupt __far * pxISR )();
#endif #endif
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT #ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
typedef void ( __interrupt __far *pxISR )(); typedef void ( __interrupt __far * pxISR )();
#endif #endif
#ifdef GCC_MEGA_AVR #ifdef GCC_MEGA_AVR
#include "../portable/GCC/ATMega323/portmacro.h" #include "../portable/GCC/ATMega323/portmacro.h"
#endif #endif
#ifdef IAR_MEGA_AVR #ifdef IAR_MEGA_AVR
#include "../portable/IAR/ATMega323/portmacro.h" #include "../portable/IAR/ATMega323/portmacro.h"
#endif #endif
#ifdef MPLAB_PIC24_PORT #ifdef MPLAB_PIC24_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif #endif
#ifdef MPLAB_DSPIC_PORT #ifdef MPLAB_DSPIC_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif #endif
#ifdef MPLAB_PIC18F_PORT #ifdef MPLAB_PIC18F_PORT
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h" #include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif #endif
#ifdef MPLAB_PIC32MX_PORT #ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif #endif
#ifdef _FEDPICC #ifdef _FEDPICC
#include "libFreeRTOS/Include/portmacro.h" #include "libFreeRTOS/Include/portmacro.h"
#endif #endif
#ifdef SDCC_CYGNAL #ifdef SDCC_CYGNAL
#include "../../Source/portable/SDCC/Cygnal/portmacro.h" #include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif #endif
#ifdef GCC_ARM7 #ifdef GCC_ARM7
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif #endif
#ifdef GCC_ARM7_ECLIPSE #ifdef GCC_ARM7_ECLIPSE
#include "portmacro.h" #include "portmacro.h"
#endif #endif
#ifdef ROWLEY_LPC23xx #ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif #endif
#ifdef IAR_MSP430 #ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h" #include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif #endif
#ifdef GCC_MSP430 #ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h" #include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif #endif
#ifdef ROWLEY_MSP430 #ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h" #include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif #endif
#ifdef ARM7_LPC21xx_KEIL_RVDS #ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif #endif
#ifdef SAM7_GCC #ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif #endif
#ifdef SAM7_IAR #ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif #endif
#ifdef SAM9XE_IAR #ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif #endif
#ifdef LPC2000_IAR #ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h" #include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif #endif
#ifdef STR71X_IAR #ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h" #include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif #endif
#ifdef STR75X_IAR #ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h" #include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif #endif
#ifdef STR75X_GCC #ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h" #include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif #endif
#ifdef STR91X_IAR #ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h" #include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif #endif
#ifdef GCC_H8S #ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h" #include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif #endif
#ifdef GCC_AT91FR40008 #ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif #endif
#ifdef RVDS_ARMCM3_LM3S102 #ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif #endif
#ifdef GCC_ARMCM3_LM3S102 #ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif #endif
#ifdef GCC_ARMCM3 #ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif #endif
#ifdef IAR_ARM_CM3 #ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif #endif
#ifdef IAR_ARMCM3_LM #ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif #endif
#ifdef HCS12_CODE_WARRIOR #ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
#endif #endif
#ifdef MICROBLAZE_GCC #ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h" #include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif #endif
#ifdef TERN_EE #ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
#endif #endif
#ifdef GCC_HCS12 #ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h" #include "../../Source/portable/GCC/HCS12/portmacro.h"
#endif #endif
#ifdef GCC_MCF5235 #ifdef GCC_MCF5235
@ -188,91 +188,92 @@ projects should not use them. */
#endif #endif
#ifdef COLDFIRE_V2_GCC #ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif #endif
#ifdef COLDFIRE_V2_CODEWARRIOR #ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#endif #endif
#ifdef GCC_PPC405 #ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif #endif
#ifdef GCC_PPC440 #ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif #endif
#ifdef _16FX_SOFTUNE #ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h" #include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif #endif
#ifdef BCC_INDUSTRIAL_PC_PORT #ifdef BCC_INDUSTRIAL_PC_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */ /* A short file name has to be used in place of the normal
#include "frconfig.h" * FreeRTOSConfig.h when using the Borland compiler. */
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h" #include "frconfig.h"
typedef void ( __interrupt __far *pxISR )(); #include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif #endif
#ifdef BCC_FLASH_LITE_186_PORT #ifdef BCC_FLASH_LITE_186_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */ /* A short file name has to be used in place of the normal
#include "frconfig.h" * FreeRTOSConfig.h when using the Borland compiler. */
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" #include "frconfig.h"
typedef void ( __interrupt __far *pxISR )(); #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
typedef void ( __interrupt __far * pxISR )();
#endif #endif
#ifdef __GNUC__ #ifdef __GNUC__
#ifdef __AVR32_AVR32A__ #ifdef __AVR32_AVR32A__
#include "portmacro.h" #include "portmacro.h"
#endif #endif
#endif #endif
#ifdef __ICCAVR32__ #ifdef __ICCAVR32__
#ifdef __CORE__ #ifdef __CORE__
#if __CORE__ == __AVR32A__ #if __CORE__ == __AVR32A__
#include "portmacro.h" #include "portmacro.h"
#endif #endif
#endif #endif
#endif #endif
#ifdef __91467D #ifdef __91467D
#include "portmacro.h" #include "portmacro.h"
#endif #endif
#ifdef __96340 #ifdef __96340
#include "portmacro.h" #include "portmacro.h"
#endif #endif
#ifdef __IAR_V850ES_Fx3__ #ifdef __IAR_V850ES_Fx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h" #include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif #endif
#ifdef __IAR_V850ES_Jx3__ #ifdef __IAR_V850ES_Jx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h" #include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif #endif
#ifdef __IAR_V850ES_Jx3_L__ #ifdef __IAR_V850ES_Jx3_L__
#include "../../Source/portable/IAR/V850ES/portmacro.h" #include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif #endif
#ifdef __IAR_V850ES_Jx2__ #ifdef __IAR_V850ES_Jx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h" #include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif #endif
#ifdef __IAR_V850ES_Hx2__ #ifdef __IAR_V850ES_Hx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h" #include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif #endif
#ifdef __IAR_78K0R_Kx3__ #ifdef __IAR_78K0R_Kx3__
#include "../../Source/portable/IAR/78K0R/portmacro.h" #include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif #endif
#ifdef __IAR_78K0R_Kx3L__ #ifdef __IAR_78K0R_Kx3L__
#include "../../Source/portable/IAR/78K0R/portmacro.h" #include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif #endif
#endif /* DEPRECATED_DEFINITIONS_H */ #endif /* DEPRECATED_DEFINITIONS_H */

693
include/event_groups.h
View file

@ -25,18 +25,18 @@
*/ */
#ifndef EVENT_GROUPS_H #ifndef EVENT_GROUPS_H
#define EVENT_GROUPS_H #define EVENT_GROUPS_H
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error "include FreeRTOS.h" must appear in source files before "include event_groups.h" #error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
#endif #endif
/* FreeRTOS includes. */ /* FreeRTOS includes. */
#include "timers.h" #include "timers.h"
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/** /**
* An event group is a collection of bits to which an application can assign a * An event group is a collection of bits to which an application can assign a
@ -77,8 +77,8 @@ extern "C" {
* \defgroup EventGroupHandle_t EventGroupHandle_t * \defgroup EventGroupHandle_t EventGroupHandle_t
* \ingroup EventGroup * \ingroup EventGroup
*/ */
struct EventGroupDef_t; struct EventGroupDef_t;
typedef struct EventGroupDef_t * EventGroupHandle_t; typedef struct EventGroupDef_t * EventGroupHandle_t;
/* /*
* The type that holds event bits always matches TickType_t - therefore the * The type that holds event bits always matches TickType_t - therefore the
@ -88,13 +88,13 @@ typedef struct EventGroupDef_t * EventGroupHandle_t;
* \defgroup EventBits_t EventBits_t * \defgroup EventBits_t EventBits_t
* \ingroup EventGroup * \ingroup EventGroup
*/ */
typedef TickType_t EventBits_t; typedef TickType_t EventBits_t;
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventGroupHandle_t xEventGroupCreate( void ); * EventGroupHandle_t xEventGroupCreate( void );
</pre> * </pre>
* *
* Create a new event group. * Create a new event group.
* *
@ -121,36 +121,36 @@ typedef TickType_t EventBits_t;
* event group then NULL is returned. See http://www.freertos.org/a00111.html * event group then NULL is returned. See http://www.freertos.org/a00111.html
* *
* Example usage: * Example usage:
<pre> * <pre>
// Declare a variable to hold the created event group. * // Declare a variable to hold the created event group.
EventGroupHandle_t xCreatedEventGroup; * EventGroupHandle_t xCreatedEventGroup;
*
// Attempt to create the event group. * // Attempt to create the event group.
xCreatedEventGroup = xEventGroupCreate(); * xCreatedEventGroup = xEventGroupCreate();
*
// Was the event group created successfully? * // Was the event group created successfully?
if( xCreatedEventGroup == NULL ) * if( xCreatedEventGroup == NULL )
{ * {
// The event group was not created because there was insufficient * // The event group was not created because there was insufficient
// FreeRTOS heap available. * // FreeRTOS heap available.
} * }
else * else
{ * {
// The event group was created. * // The event group was created.
} * }
</pre> * </pre>
* \defgroup xEventGroupCreate xEventGroupCreate * \defgroup xEventGroupCreate xEventGroupCreate
* \ingroup EventGroup * \ingroup EventGroup
*/ */
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
#endif #endif
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer ); * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
</pre> * </pre>
* *
* Create a new event group. * Create a new event group.
* *
@ -180,34 +180,34 @@ typedef TickType_t EventBits_t;
* returned. If pxEventGroupBuffer was NULL then NULL is returned. * returned. If pxEventGroupBuffer was NULL then NULL is returned.
* *
* Example usage: * Example usage:
<pre> * <pre>
// StaticEventGroup_t is a publicly accessible structure that has the same * // StaticEventGroup_t is a publicly accessible structure that has the same
// size and alignment requirements as the real event group structure. It is * // size and alignment requirements as the real event group structure. It is
// provided as a mechanism for applications to know the size of the event * // provided as a mechanism for applications to know the size of the event
// group (which is dependent on the architecture and configuration file * // group (which is dependent on the architecture and configuration file
// settings) without breaking the strict data hiding policy by exposing the * // settings) without breaking the strict data hiding policy by exposing the
// real event group internals. This StaticEventGroup_t variable is passed * // real event group internals. This StaticEventGroup_t variable is passed
// into the xSemaphoreCreateEventGroupStatic() function and is used to store * // into the xSemaphoreCreateEventGroupStatic() function and is used to store
// the event group's data structures * // the event group's data structures
StaticEventGroup_t xEventGroupBuffer; * StaticEventGroup_t xEventGroupBuffer;
*
// Create the event group without dynamically allocating any memory. * // Create the event group without dynamically allocating any memory.
xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer ); * xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
</pre> * </pre>
*/ */
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION; EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
#endif #endif
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, * EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor, * const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit, * const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits, * const BaseType_t xWaitForAllBits,
const TickType_t xTicksToWait ); * const TickType_t xTicksToWait );
</pre> * </pre>
* *
* [Potentially] block to wait for one or more bits to be set within a * [Potentially] block to wait for one or more bits to be set within a
* previously created event group. * previously created event group.
@ -251,53 +251,57 @@ typedef TickType_t EventBits_t;
* pdTRUE. * pdTRUE.
* *
* Example usage: * Example usage:
<pre> * <pre>
#define BIT_0 ( 1 << 0 ) #define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 ) #define BIT_4 ( 1 << 4 )
*
void aFunction( EventGroupHandle_t xEventGroup ) * void aFunction( EventGroupHandle_t xEventGroup )
{ * {
EventBits_t uxBits; * EventBits_t uxBits;
const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; * const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
*
// Wait a maximum of 100ms for either bit 0 or bit 4 to be set within * // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
// the event group. Clear the bits before exiting. * // the event group. Clear the bits before exiting.
uxBits = xEventGroupWaitBits( * uxBits = xEventGroupWaitBits(
xEventGroup, // The event group being tested. * xEventGroup, // The event group being tested.
BIT_0 | BIT_4, // The bits within the event group to wait for. * BIT_0 | BIT_4, // The bits within the event group to wait for.
pdTRUE, // BIT_0 and BIT_4 should be cleared before returning. * pdTRUE, // BIT_0 and BIT_4 should be cleared before returning.
pdFALSE, // Don't wait for both bits, either bit will do. * pdFALSE, // Don't wait for both bits, either bit will do.
xTicksToWait ); // Wait a maximum of 100ms for either bit to be set. * xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
*
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
{ * {
// xEventGroupWaitBits() returned because both bits were set. * // xEventGroupWaitBits() returned because both bits were set.
} * }
else if( ( uxBits & BIT_0 ) != 0 ) * else if( ( uxBits & BIT_0 ) != 0 )
{ * {
// xEventGroupWaitBits() returned because just BIT_0 was set. * // xEventGroupWaitBits() returned because just BIT_0 was set.
} * }
else if( ( uxBits & BIT_4 ) != 0 ) * else if( ( uxBits & BIT_4 ) != 0 )
{ * {
// xEventGroupWaitBits() returned because just BIT_4 was set. * // xEventGroupWaitBits() returned because just BIT_4 was set.
} * }
else * else
{ * {
// xEventGroupWaitBits() returned because xTicksToWait ticks passed * // xEventGroupWaitBits() returned because xTicksToWait ticks passed
// without either BIT_0 or BIT_4 becoming set. * // without either BIT_0 or BIT_4 becoming set.
} * }
} * }
</pre> * </pre>
* \defgroup xEventGroupWaitBits xEventGroupWaitBits * \defgroup xEventGroupWaitBits xEventGroupWaitBits
* \ingroup EventGroup * \ingroup EventGroup
*/ */
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ); * EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
</pre> * </pre>
* *
* Clear bits within an event group. This function cannot be called from an * Clear bits within an event group. This function cannot be called from an
* interrupt. * interrupt.
@ -311,50 +315,51 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits
* @return The value of the event group before the specified bits were cleared. * @return The value of the event group before the specified bits were cleared.
* *
* Example usage: * Example usage:
<pre> * <pre>
#define BIT_0 ( 1 << 0 ) #define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 ) #define BIT_4 ( 1 << 4 )
*
void aFunction( EventGroupHandle_t xEventGroup ) * void aFunction( EventGroupHandle_t xEventGroup )
{ * {
EventBits_t uxBits; * EventBits_t uxBits;
*
// Clear bit 0 and bit 4 in xEventGroup. * // Clear bit 0 and bit 4 in xEventGroup.
uxBits = xEventGroupClearBits( * uxBits = xEventGroupClearBits(
xEventGroup, // The event group being updated. * xEventGroup, // The event group being updated.
BIT_0 | BIT_4 );// The bits being cleared. * BIT_0 | BIT_4 );// The bits being cleared.
*
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
{ * {
// Both bit 0 and bit 4 were set before xEventGroupClearBits() was * // Both bit 0 and bit 4 were set before xEventGroupClearBits() was
// called. Both will now be clear (not set). * // called. Both will now be clear (not set).
} * }
else if( ( uxBits & BIT_0 ) != 0 ) * else if( ( uxBits & BIT_0 ) != 0 )
{ * {
// Bit 0 was set before xEventGroupClearBits() was called. It will * // Bit 0 was set before xEventGroupClearBits() was called. It will
// now be clear. * // now be clear.
} * }
else if( ( uxBits & BIT_4 ) != 0 ) * else if( ( uxBits & BIT_4 ) != 0 )
{ * {
// Bit 4 was set before xEventGroupClearBits() was called. It will * // Bit 4 was set before xEventGroupClearBits() was called. It will
// now be clear. * // now be clear.
} * }
else * else
{ * {
// Neither bit 0 nor bit 4 were set in the first place. * // Neither bit 0 nor bit 4 were set in the first place.
} * }
} * }
</pre> * </pre>
* \defgroup xEventGroupClearBits xEventGroupClearBits * \defgroup xEventGroupClearBits xEventGroupClearBits
* \ingroup EventGroup * \ingroup EventGroup
*/ */
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ); * BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
</pre> * </pre>
* *
* A version of xEventGroupClearBits() that can be called from an interrupt. * A version of xEventGroupClearBits() that can be called from an interrupt.
* *
@ -379,41 +384,42 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit
* if the timer service queue was full. * if the timer service queue was full.
* *
* Example usage: * Example usage:
<pre> * <pre>
#define BIT_0 ( 1 << 0 ) #define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 ) #define BIT_4 ( 1 << 4 )
*
// An event group which it is assumed has already been created by a call to * // An event group which it is assumed has already been created by a call to
// xEventGroupCreate(). * // xEventGroupCreate().
EventGroupHandle_t xEventGroup; * EventGroupHandle_t xEventGroup;
*
void anInterruptHandler( void ) * void anInterruptHandler( void )
{ * {
// Clear bit 0 and bit 4 in xEventGroup. * // Clear bit 0 and bit 4 in xEventGroup.
xResult = xEventGroupClearBitsFromISR( * xResult = xEventGroupClearBitsFromISR(
xEventGroup, // The event group being updated. * xEventGroup, // The event group being updated.
BIT_0 | BIT_4 ); // The bits being set. * BIT_0 | BIT_4 ); // The bits being set.
*
if( xResult == pdPASS ) * if( xResult == pdPASS )
{ * {
// The message was posted successfully. * // The message was posted successfully.
} * }
} * }
</pre> * </pre>
* \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
* \ingroup EventGroup * \ingroup EventGroup
*/ */
#if( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
#else const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
#define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ) #else
#endif #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL )
#endif
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ); * EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
</pre> * </pre>
* *
* Set bits within an event group. * Set bits within an event group.
* This function cannot be called from an interrupt. xEventGroupSetBitsFromISR() * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR()
@ -439,55 +445,56 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit
* event group value before the call to xEventGroupSetBits() returns. * event group value before the call to xEventGroupSetBits() returns.
* *
* Example usage: * Example usage:
<pre> * <pre>
#define BIT_0 ( 1 << 0 ) #define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 ) #define BIT_4 ( 1 << 4 )
*
void aFunction( EventGroupHandle_t xEventGroup ) * void aFunction( EventGroupHandle_t xEventGroup )
{ * {
EventBits_t uxBits; * EventBits_t uxBits;
*
// Set bit 0 and bit 4 in xEventGroup. * // Set bit 0 and bit 4 in xEventGroup.
uxBits = xEventGroupSetBits( * uxBits = xEventGroupSetBits(
xEventGroup, // The event group being updated. * xEventGroup, // The event group being updated.
BIT_0 | BIT_4 );// The bits being set. * BIT_0 | BIT_4 );// The bits being set.
*
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
{ * {
// Both bit 0 and bit 4 remained set when the function returned. * // Both bit 0 and bit 4 remained set when the function returned.
} * }
else if( ( uxBits & BIT_0 ) != 0 ) * else if( ( uxBits & BIT_0 ) != 0 )
{ * {
// Bit 0 remained set when the function returned, but bit 4 was * // Bit 0 remained set when the function returned, but bit 4 was
// cleared. It might be that bit 4 was cleared automatically as a * // cleared. It might be that bit 4 was cleared automatically as a
// task that was waiting for bit 4 was removed from the Blocked * // task that was waiting for bit 4 was removed from the Blocked
// state. * // state.
} * }
else if( ( uxBits & BIT_4 ) != 0 ) * else if( ( uxBits & BIT_4 ) != 0 )
{ * {
// Bit 4 remained set when the function returned, but bit 0 was * // Bit 4 remained set when the function returned, but bit 0 was
// cleared. It might be that bit 0 was cleared automatically as a * // cleared. It might be that bit 0 was cleared automatically as a
// task that was waiting for bit 0 was removed from the Blocked * // task that was waiting for bit 0 was removed from the Blocked
// state. * // state.
} * }
else * else
{ * {
// Neither bit 0 nor bit 4 remained set. It might be that a task * // Neither bit 0 nor bit 4 remained set. It might be that a task
// was waiting for both of the bits to be set, and the bits were * // was waiting for both of the bits to be set, and the bits were
// cleared as the task left the Blocked state. * // cleared as the task left the Blocked state.
} * }
} * }
</pre> * </pre>
* \defgroup xEventGroupSetBits xEventGroupSetBits * \defgroup xEventGroupSetBits xEventGroupSetBits
* \ingroup EventGroup * \ingroup EventGroup
*/ */
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* A version of xEventGroupSetBits() that can be called from an interrupt. * A version of xEventGroupSetBits() that can be called from an interrupt.
* *
@ -520,55 +527,57 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_
* if the timer service queue was full. * if the timer service queue was full.
* *
* Example usage: * Example usage:
<pre> * <pre>
#define BIT_0 ( 1 << 0 ) #define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 ) #define BIT_4 ( 1 << 4 )
*
// An event group which it is assumed has already been created by a call to * // An event group which it is assumed has already been created by a call to
// xEventGroupCreate(). * // xEventGroupCreate().
EventGroupHandle_t xEventGroup; * EventGroupHandle_t xEventGroup;
*
void anInterruptHandler( void ) * void anInterruptHandler( void )
{ * {
BaseType_t xHigherPriorityTaskWoken, xResult; * BaseType_t xHigherPriorityTaskWoken, xResult;
*
// xHigherPriorityTaskWoken must be initialised to pdFALSE. * // xHigherPriorityTaskWoken must be initialised to pdFALSE.
xHigherPriorityTaskWoken = pdFALSE; * xHigherPriorityTaskWoken = pdFALSE;
*
// Set bit 0 and bit 4 in xEventGroup. * // Set bit 0 and bit 4 in xEventGroup.
xResult = xEventGroupSetBitsFromISR( * xResult = xEventGroupSetBitsFromISR(
xEventGroup, // The event group being updated. * xEventGroup, // The event group being updated.
BIT_0 | BIT_4 // The bits being set. * BIT_0 | BIT_4 // The bits being set.
&xHigherPriorityTaskWoken ); * &xHigherPriorityTaskWoken );
*
// Was the message posted successfully? * // Was the message posted successfully?
if( xResult == pdPASS ) * if( xResult == pdPASS )
{ * {
// If xHigherPriorityTaskWoken is now set to pdTRUE then a context * // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
// switch should be requested. The macro used is port specific and * // switch should be requested. The macro used is port specific and
// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - * // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
// refer to the documentation page for the port being used. * // refer to the documentation page for the port being used.
portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
} * }
} * }
</pre> * </pre>
* \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
* \ingroup EventGroup * \ingroup EventGroup
*/ */
#if( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
#else const EventBits_t uxBitsToSet,
#define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ) BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#endif #else
#define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken )
#endif
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, * EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet, * const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor, * const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ); * TickType_t xTicksToWait );
</pre> * </pre>
* *
* Atomically set bits within an event group, then wait for a combination of * Atomically set bits within an event group, then wait for a combination of
* bits to be set within the same event group. This functionality is typically * bits to be set within the same event group. This functionality is typically
@ -607,92 +616,95 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_
* automatically cleared. * automatically cleared.
* *
* Example usage: * Example usage:
<pre> * <pre>
// Bits used by the three tasks. * // Bits used by the three tasks.
#define TASK_0_BIT ( 1 << 0 ) #define TASK_0_BIT ( 1 << 0 )
#define TASK_1_BIT ( 1 << 1 ) #define TASK_1_BIT ( 1 << 1 )
#define TASK_2_BIT ( 1 << 2 ) #define TASK_2_BIT ( 1 << 2 )
*
#define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT ) #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
*
// Use an event group to synchronise three tasks. It is assumed this event * // Use an event group to synchronise three tasks. It is assumed this event
// group has already been created elsewhere. * // group has already been created elsewhere.
EventGroupHandle_t xEventBits; * EventGroupHandle_t xEventBits;
*
void vTask0( void *pvParameters ) * void vTask0( void *pvParameters )
{ * {
EventBits_t uxReturn; * EventBits_t uxReturn;
TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; * TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
*
for( ;; ) * for( ;; )
{ * {
// Perform task functionality here. * // Perform task functionality here.
*
// Set bit 0 in the event flag to note this task has reached the * // Set bit 0 in the event flag to note this task has reached the
// sync point. The other two tasks will set the other two bits defined * // sync point. The other two tasks will set the other two bits defined
// by ALL_SYNC_BITS. All three tasks have reached the synchronisation * // by ALL_SYNC_BITS. All three tasks have reached the synchronisation
// point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms * // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms
// for this to happen. * // for this to happen.
uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait ); * uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
*
if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS ) * if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
{ * {
// All three tasks reached the synchronisation point before the call * // All three tasks reached the synchronisation point before the call
// to xEventGroupSync() timed out. * // to xEventGroupSync() timed out.
} * }
} * }
} * }
*
void vTask1( void *pvParameters ) * void vTask1( void *pvParameters )
{ * {
for( ;; ) * for( ;; )
{ * {
// Perform task functionality here. * // Perform task functionality here.
*
// Set bit 1 in the event flag to note this task has reached the * // Set bit 1 in the event flag to note this task has reached the
// synchronisation point. The other two tasks will set the other two * // synchronisation point. The other two tasks will set the other two
// bits defined by ALL_SYNC_BITS. All three tasks have reached the * // bits defined by ALL_SYNC_BITS. All three tasks have reached the
// synchronisation point when all the ALL_SYNC_BITS are set. Wait * // synchronisation point when all the ALL_SYNC_BITS are set. Wait
// indefinitely for this to happen. * // indefinitely for this to happen.
xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY ); * xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
*
// xEventGroupSync() was called with an indefinite block time, so * // xEventGroupSync() was called with an indefinite block time, so
// this task will only reach here if the syncrhonisation was made by all * // this task will only reach here if the syncrhonisation was made by all
// three tasks, so there is no need to test the return value. * // three tasks, so there is no need to test the return value.
} * }
} * }
*
void vTask2( void *pvParameters ) * void vTask2( void *pvParameters )
{ * {
for( ;; ) * for( ;; )
{ * {
// Perform task functionality here. * // Perform task functionality here.
*
// Set bit 2 in the event flag to note this task has reached the * // Set bit 2 in the event flag to note this task has reached the
// synchronisation point. The other two tasks will set the other two * // synchronisation point. The other two tasks will set the other two
// bits defined by ALL_SYNC_BITS. All three tasks have reached the * // bits defined by ALL_SYNC_BITS. All three tasks have reached the
// synchronisation point when all the ALL_SYNC_BITS are set. Wait * // synchronisation point when all the ALL_SYNC_BITS are set. Wait
// indefinitely for this to happen. * // indefinitely for this to happen.
xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY ); * xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
*
// xEventGroupSync() was called with an indefinite block time, so * // xEventGroupSync() was called with an indefinite block time, so
// this task will only reach here if the syncrhonisation was made by all * // this task will only reach here if the syncrhonisation was made by all
// three tasks, so there is no need to test the return value. * // three tasks, so there is no need to test the return value.
} * }
} * }
*
</pre> * </pre>
* \defgroup xEventGroupSync xEventGroupSync * \defgroup xEventGroupSync xEventGroupSync
* \ingroup EventGroup * \ingroup EventGroup
*/ */
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup ); * EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
</pre> * </pre>
* *
* Returns the current value of the bits in an event group. This function * Returns the current value of the bits in an event group. This function
* cannot be used from an interrupt. * cannot be used from an interrupt.
@ -704,13 +716,13 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u
* \defgroup xEventGroupGetBits xEventGroupGetBits * \defgroup xEventGroupGetBits xEventGroupGetBits
* \ingroup EventGroup * \ingroup EventGroup
*/ */
#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) #define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 )
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ); * EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
</pre> * </pre>
* *
* A version of xEventGroupGetBits() that can be called from an ISR. * A version of xEventGroupGetBits() that can be called from an ISR.
* *
@ -721,13 +733,13 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u
* \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
* \ingroup EventGroup * \ingroup EventGroup
*/ */
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/** /**
* event_groups.h * event_groups.h
*<pre> *<pre>
void xEventGroupDelete( EventGroupHandle_t xEventGroup ); * void xEventGroupDelete( EventGroupHandle_t xEventGroup );
</pre> * </pre>
* *
* Delete an event group that was previously created by a call to * Delete an event group that was previously created by a call to
* xEventGroupCreate(). Tasks that are blocked on the event group will be * xEventGroupCreate(). Tasks that are blocked on the event group will be
@ -735,22 +747,23 @@ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEG
* *
* @param xEventGroup The event group being deleted. * @param xEventGroup The event group being deleted.
*/ */
void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/* For internal use only. */ /* For internal use only. */
void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; void vEventGroupSetBitsCallback( void * pvEventGroup,
void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
void vEventGroupClearBitsCallback( void * pvEventGroup,
const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
#if (configUSE_TRACE_FACILITY == 1) #if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION; UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) PRIVILEGED_FUNCTION;
void vEventGroupSetNumber( void* xEventGroup, UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION; void vEventGroupSetNumber( void * xEventGroup,
#endif UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION;
#endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* EVENT_GROUPS_H */ #endif /* EVENT_GROUPS_H */

209
include/list.h
View file

@ -53,11 +53,11 @@
*/ */
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error FreeRTOS.h must be included before list.h #error FreeRTOS.h must be included before list.h
#endif #endif
#ifndef LIST_H #ifndef LIST_H
#define LIST_H #define LIST_H
/* /*
* The list structure members are modified from within interrupts, and therefore * The list structure members are modified from within interrupts, and therefore
@ -87,87 +87,87 @@
* FreeRTOSConfig.h (without the quotes): * FreeRTOSConfig.h (without the quotes):
* "#define configLIST_VOLATILE volatile" * "#define configLIST_VOLATILE volatile"
*/ */
#ifndef configLIST_VOLATILE #ifndef configLIST_VOLATILE
#define configLIST_VOLATILE #define configLIST_VOLATILE
#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ #endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Macros that can be used to place known values within the list structures, /* Macros that can be used to place known values within the list structures,
then check that the known values do not get corrupted during the execution of * then check that the known values do not get corrupted during the execution of
the application. These may catch the list data structures being overwritten in * the application. These may catch the list data structures being overwritten in
memory. They will not catch data errors caused by incorrect configuration or * memory. They will not catch data errors caused by incorrect configuration or
use of FreeRTOS.*/ * use of FreeRTOS.*/
#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
/* Define the macros to do nothing. */ /* Define the macros to do nothing. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE #define listFIRST_LIST_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE #define listSECOND_LIST_INTEGRITY_CHECK_VALUE
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) #define listTEST_LIST_ITEM_INTEGRITY( pxItem )
#define listTEST_LIST_INTEGRITY( pxList ) #define listTEST_LIST_INTEGRITY( pxList )
#else #else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */
/* Define macros that add new members into the list structures. */ /* Define macros that add new members into the list structures. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
/* Define macros that set the new structure members to known values. */ /* Define macros that set the new structure members to known values. */
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
/* Define macros that will assert if one of the structure members does not /* Define macros that will assert if one of the structure members does not
contain its expected value. */ * contain its expected value. */
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
/* /*
* Definition of the only type of object that a list can contain. * Definition of the only type of object that a list can contain.
*/ */
struct xLIST; struct xLIST;
struct xLIST_ITEM struct xLIST_ITEM
{ {
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */ struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */ struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */
void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */ struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
}; };
typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */
struct xMINI_LIST_ITEM struct xMINI_LIST_ITEM
{ {
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue; configLIST_VOLATILE TickType_t xItemValue;
struct xLIST_ITEM * configLIST_VOLATILE pxNext; struct xLIST_ITEM * configLIST_VOLATILE pxNext;
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
}; };
typedef struct xMINI_LIST_ITEM MiniListItem_t; typedef struct xMINI_LIST_ITEM MiniListItem_t;
/* /*
* Definition of the type of queue used by the scheduler. * Definition of the type of queue used by the scheduler.
*/ */
typedef struct xLIST typedef struct xLIST
{ {
listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
volatile UBaseType_t uxNumberOfItems; volatile UBaseType_t uxNumberOfItems;
ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
} List_t; } List_t;
/* /*
* Access macro to set the owner of a list item. The owner of a list item * Access macro to set the owner of a list item. The owner of a list item
@ -176,7 +176,7 @@ typedef struct xLIST
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) #define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
/* /*
* Access macro to get the owner of a list item. The owner of a list item * Access macro to get the owner of a list item. The owner of a list item
@ -185,7 +185,7 @@ typedef struct xLIST
* \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) #define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
/* /*
* Access macro to set the value of the list item. In most cases the value is * Access macro to set the value of the list item. In most cases the value is
@ -194,7 +194,7 @@ typedef struct xLIST
* \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) ) #define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
/* /*
* Access macro to retrieve the value of the list item. The value can * Access macro to retrieve the value of the list item. The value can
@ -204,7 +204,7 @@ typedef struct xLIST
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) #define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
/* /*
* Access macro to retrieve the value of the list item at the head of a given * Access macro to retrieve the value of the list item at the head of a given
@ -213,7 +213,7 @@ typedef struct xLIST
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) #define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
/* /*
* Return the list item at the head of the list. * Return the list item at the head of the list.
@ -221,7 +221,7 @@ typedef struct xLIST
* \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) #define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
/* /*
* Return the next list item. * Return the next list item.
@ -229,7 +229,7 @@ typedef struct xLIST
* \page listGET_NEXT listGET_NEXT * \page listGET_NEXT listGET_NEXT
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) #define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
/* /*
* Return the list item that marks the end of the list * Return the list item that marks the end of the list
@ -237,7 +237,7 @@ typedef struct xLIST
* \page listGET_END_MARKER listGET_END_MARKER * \page listGET_END_MARKER listGET_END_MARKER
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) #define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
/* /*
* Access macro to determine if a list contains any items. The macro will * Access macro to determine if a list contains any items. The macro will
@ -246,12 +246,12 @@ typedef struct xLIST
* \page listLIST_IS_EMPTY listLIST_IS_EMPTY * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) #define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE )
/* /*
* Access macro to return the number of items in the list. * Access macro to return the number of items in the list.
*/ */
#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) #define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
/* /*
* Access function to obtain the owner of the next entry in a list. * Access function to obtain the owner of the next entry in a list.
@ -273,18 +273,18 @@ typedef struct xLIST
* \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ #define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
{ \ { \
List_t * const pxConstList = ( pxList ); \ List_t * const pxConstList = ( pxList ); \
/* Increment the index to the next item and return the item, ensuring */ \ /* Increment the index to the next item and return the item, ensuring */ \
/* we don't return the marker used at the end of the list. */ \ /* we don't return the marker used at the end of the list. */ \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
{ \ { \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
} \ } \
( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
} }
/* /*
@ -303,7 +303,7 @@ List_t * const pxConstList = ( pxList ); \
* \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
* \ingroup LinkedList * \ingroup LinkedList
*/ */
#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner ) #define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner )
/* /*
* Check to see if a list item is within a list. The list item maintains a * Check to see if a list item is within a list. The list item maintains a
@ -314,7 +314,7 @@ List_t * const pxConstList = ( pxList ); \
* @param pxListItem The list item we want to know if is in the list. * @param pxListItem The list item we want to know if is in the list.
* @return pdTRUE if the list item is in the list, otherwise pdFALSE. * @return pdTRUE if the list item is in the list, otherwise pdFALSE.
*/ */
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) #define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) )
/* /*
* Return the list a list item is contained within (referenced from). * Return the list a list item is contained within (referenced from).
@ -322,14 +322,14 @@ List_t * const pxConstList = ( pxList ); \
* @param pxListItem The list item being queried. * @param pxListItem The list item being queried.
* @return A pointer to the List_t object that references the pxListItem * @return A pointer to the List_t object that references the pxListItem
*/ */
#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) #define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer )
/* /*
* This provides a crude means of knowing if a list has been initialised, as * This provides a crude means of knowing if a list has been initialised, as
* pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
* function. * function.
*/ */
#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) #define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
/* /*
* Must be called before a list is used! This initialises all the members * Must be called before a list is used! This initialises all the members
@ -341,7 +341,7 @@ List_t * const pxConstList = ( pxList ); \
* \page vListInitialise vListInitialise * \page vListInitialise vListInitialise
* \ingroup LinkedList * \ingroup LinkedList
*/ */
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION; void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
/* /*
* Must be called before a list item is used. This sets the list container to * Must be called before a list item is used. This sets the list container to
@ -352,7 +352,7 @@ void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
* \page vListInitialiseItem vListInitialiseItem * \page vListInitialiseItem vListInitialiseItem
* \ingroup LinkedList * \ingroup LinkedList
*/ */
void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
/* /*
* Insert a list item into a list. The item will be inserted into the list in * Insert a list item into a list. The item will be inserted into the list in
@ -365,7 +365,8 @@ void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
* \page vListInsert vListInsert * \page vListInsert vListInsert
* \ingroup LinkedList * \ingroup LinkedList
*/ */
void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/* /*
* Insert a list item into a list. The item will be inserted in a position * Insert a list item into a list. The item will be inserted in a position
@ -386,7 +387,8 @@ void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIV
* \page vListInsertEnd vListInsertEnd * \page vListInsertEnd vListInsertEnd
* \ingroup LinkedList * \ingroup LinkedList
*/ */
void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; void vListInsertEnd( List_t * const pxList,
ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/* /*
* Remove an item from a list. The list item has a pointer to the list that * Remove an item from a list. The list item has a pointer to the list that
@ -401,11 +403,10 @@ void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) P
* \page uxListRemove uxListRemove * \page uxListRemove uxListRemove
* \ingroup LinkedList * \ingroup LinkedList
*/ */
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif
#endif /* ifndef LIST_H */

508
include/message_buffer.h
View file

@ -59,18 +59,18 @@
*/ */
#ifndef FREERTOS_MESSAGE_BUFFER_H #ifndef FREERTOS_MESSAGE_BUFFER_H
#define FREERTOS_MESSAGE_BUFFER_H #define FREERTOS_MESSAGE_BUFFER_H
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include message_buffer.h" #error "include FreeRTOS.h must appear in source files before include message_buffer.h"
#endif #endif
/* Message buffers are built onto of stream buffers. */ /* Message buffers are built onto of stream buffers. */
#include "stream_buffer.h" #include "stream_buffer.h"
#if defined( __cplusplus ) #if defined( __cplusplus )
extern "C" { extern "C" {
#endif #endif
/** /**
* Type by which message buffers are referenced. For example, a call to * Type by which message buffers are referenced. For example, a call to
@ -78,16 +78,16 @@ extern "C" {
* then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(), * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
* etc. * etc.
*/ */
typedef void * MessageBufferHandle_t; typedef void * MessageBufferHandle_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes ); * MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
</pre> * </pre>
* *
* Creates a new message buffer using dynamically allocated memory. See * Creates a new message buffer using dynamically allocated memory. See
* xMessageBufferCreateStatic() for a version that uses statically allocated * xMessageBufferCreateStatic() for a version that uses statically allocated
@ -111,43 +111,43 @@ MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
* buffer. * buffer.
* *
* Example use: * Example use:
<pre> * <pre>
*
void vAFunction( void ) * void vAFunction( void )
{ * {
MessageBufferHandle_t xMessageBuffer; * MessageBufferHandle_t xMessageBuffer;
const size_t xMessageBufferSizeBytes = 100; * const size_t xMessageBufferSizeBytes = 100;
*
// Create a message buffer that can hold 100 bytes. The memory used to hold * // Create a message buffer that can hold 100 bytes. The memory used to hold
// both the message buffer structure and the messages themselves is allocated * // both the message buffer structure and the messages themselves is allocated
// dynamically. Each message added to the buffer consumes an additional 4 * // dynamically. Each message added to the buffer consumes an additional 4
// bytes which are used to hold the lengh of the message. * // bytes which are used to hold the lengh of the message.
xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes ); * xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
*
if( xMessageBuffer == NULL ) * if( xMessageBuffer == NULL )
{ * {
// There was not enough heap memory space available to create the * // There was not enough heap memory space available to create the
// message buffer. * // message buffer.
} * }
else * else
{ * {
// The message buffer was created successfully and can now be used. * // The message buffer was created successfully and can now be used.
} * }
*
</pre> * </pre>
* \defgroup xMessageBufferCreate xMessageBufferCreate * \defgroup xMessageBufferCreate xMessageBufferCreate
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) #define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes, * MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
uint8_t *pucMessageBufferStorageArea, * uint8_t *pucMessageBufferStorageArea,
StaticMessageBuffer_t *pxStaticMessageBuffer ); * StaticMessageBuffer_t *pxStaticMessageBuffer );
</pre> * </pre>
* Creates a new message buffer using statically allocated memory. See * Creates a new message buffer using statically allocated memory. See
* xMessageBufferCreate() for a version that uses dynamically allocated memory. * xMessageBufferCreate() for a version that uses dynamically allocated memory.
* *
@ -172,49 +172,49 @@ MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
* pxStaticmessageBuffer are NULL then NULL is returned. * pxStaticmessageBuffer are NULL then NULL is returned.
* *
* Example use: * Example use:
<pre> * <pre>
*
// Used to dimension the array used to hold the messages. The available space * // Used to dimension the array used to hold the messages. The available space
// will actually be one less than this, so 999. * // will actually be one less than this, so 999.
#define STORAGE_SIZE_BYTES 1000 #define STORAGE_SIZE_BYTES 1000
*
// Defines the memory that will actually hold the messages within the message * // Defines the memory that will actually hold the messages within the message
// buffer. * // buffer.
static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ]; * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
*
// The variable used to hold the message buffer structure. * // The variable used to hold the message buffer structure.
StaticMessageBuffer_t xMessageBufferStruct; * StaticMessageBuffer_t xMessageBufferStruct;
*
void MyFunction( void ) * void MyFunction( void )
{ * {
MessageBufferHandle_t xMessageBuffer; * MessageBufferHandle_t xMessageBuffer;
*
xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ), * xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ),
ucBufferStorage, * ucBufferStorage,
&xMessageBufferStruct ); * &xMessageBufferStruct );
*
// As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer * // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
// parameters were NULL, xMessageBuffer will not be NULL, and can be used to * // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
// reference the created message buffer in other message buffer API calls. * // reference the created message buffer in other message buffer API calls.
*
// Other code that uses the message buffer can go here. * // Other code that uses the message buffer can go here.
} * }
*
</pre> * </pre>
* \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) #define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer, * size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
const void *pvTxData, * const void *pvTxData,
size_t xDataLengthBytes, * size_t xDataLengthBytes,
TickType_t xTicksToWait ); * TickType_t xTicksToWait );
<pre> * <pre>
* *
* Sends a discrete message to the message buffer. The message can be any * Sends a discrete message to the message buffer. The message can be any
* length that fits within the buffer's free space, and is copied into the * length that fits within the buffer's free space, and is copied into the
@ -271,49 +271,49 @@ size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
* time out then xDataLengthBytes is returned. * time out then xDataLengthBytes is returned.
* *
* Example use: * Example use:
<pre> * <pre>
void vAFunction( MessageBufferHandle_t xMessageBuffer ) * void vAFunction( MessageBufferHandle_t xMessageBuffer )
{ * {
size_t xBytesSent; * size_t xBytesSent;
uint8_t ucArrayToSend[] = { 0, 1, 2, 3 }; * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
char *pcStringToSend = "String to send"; * char *pcStringToSend = "String to send";
const TickType_t x100ms = pdMS_TO_TICKS( 100 ); * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
*
// Send an array to the message buffer, blocking for a maximum of 100ms to * // Send an array to the message buffer, blocking for a maximum of 100ms to
// wait for enough space to be available in the message buffer. * // wait for enough space to be available in the message buffer.
xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms ); * xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
*
if( xBytesSent != sizeof( ucArrayToSend ) ) * if( xBytesSent != sizeof( ucArrayToSend ) )
{ * {
// The call to xMessageBufferSend() times out before there was enough * // The call to xMessageBufferSend() times out before there was enough
// space in the buffer for the data to be written. * // space in the buffer for the data to be written.
} * }
*
// Send the string to the message buffer. Return immediately if there is * // Send the string to the message buffer. Return immediately if there is
// not enough space in the buffer. * // not enough space in the buffer.
xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 ); * xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
*
if( xBytesSent != strlen( pcStringToSend ) ) * if( xBytesSent != strlen( pcStringToSend ) )
{ * {
// The string could not be added to the message buffer because there was * // The string could not be added to the message buffer because there was
// not enough free space in the buffer. * // not enough free space in the buffer.
} * }
} * }
</pre> * </pre>
* \defgroup xMessageBufferSend xMessageBufferSend * \defgroup xMessageBufferSend xMessageBufferSend
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) #define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer, * size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
const void *pvTxData, * const void *pvTxData,
size_t xDataLengthBytes, * size_t xDataLengthBytes,
BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
<pre> * <pre>
* *
* Interrupt safe version of the API function that sends a discrete message to * Interrupt safe version of the API function that sends a discrete message to
* the message buffer. The message can be any length that fits within the * the message buffer. The message can be any length that fits within the
@ -371,53 +371,53 @@ size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
* then 0 is returned, otherwise xDataLengthBytes is returned. * then 0 is returned, otherwise xDataLengthBytes is returned.
* *
* Example use: * Example use:
<pre> * <pre>
// A message buffer that has already been created. * // A message buffer that has already been created.
MessageBufferHandle_t xMessageBuffer; * MessageBufferHandle_t xMessageBuffer;
*
void vAnInterruptServiceRoutine( void ) * void vAnInterruptServiceRoutine( void )
{ * {
size_t xBytesSent; * size_t xBytesSent;
char *pcStringToSend = "String to send"; * char *pcStringToSend = "String to send";
BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE. * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
// Attempt to send the string to the message buffer. * // Attempt to send the string to the message buffer.
xBytesSent = xMessageBufferSendFromISR( xMessageBuffer, * xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
( void * ) pcStringToSend, * ( void * ) pcStringToSend,
strlen( pcStringToSend ), * strlen( pcStringToSend ),
&xHigherPriorityTaskWoken ); * &xHigherPriorityTaskWoken );
*
if( xBytesSent != strlen( pcStringToSend ) ) * if( xBytesSent != strlen( pcStringToSend ) )
{ * {
// The string could not be added to the message buffer because there was * // The string could not be added to the message buffer because there was
// not enough free space in the buffer. * // not enough free space in the buffer.
} * }
*
// If xHigherPriorityTaskWoken was set to pdTRUE inside * // If xHigherPriorityTaskWoken was set to pdTRUE inside
// xMessageBufferSendFromISR() then a task that has a priority above the * // xMessageBufferSendFromISR() then a task that has a priority above the
// priority of the currently executing task was unblocked and a context * // priority of the currently executing task was unblocked and a context
// switch should be performed to ensure the ISR returns to the unblocked * // switch should be performed to ensure the ISR returns to the unblocked
// task. In most FreeRTOS ports this is done by simply passing * // task. In most FreeRTOS ports this is done by simply passing
// xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the * // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
// variables value, and perform the context switch if necessary. Check the * // variables value, and perform the context switch if necessary. Check the
// documentation for the port in use for port specific instructions. * // documentation for the port in use for port specific instructions.
portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
} * }
</pre> * </pre>
* \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) #define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer, * size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
void *pvRxData, * void *pvRxData,
size_t xBufferLengthBytes, * size_t xBufferLengthBytes,
TickType_t xTicksToWait ); * TickType_t xTicksToWait );
</pre> * </pre>
* *
* Receives a discrete message from a message buffer. Messages can be of * Receives a discrete message from a message buffer. Messages can be of
* variable length and are copied out of the buffer. * variable length and are copied out of the buffer.
@ -470,43 +470,43 @@ size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
* zero is returned. * zero is returned.
* *
* Example use: * Example use:
<pre> * <pre>
void vAFunction( MessageBuffer_t xMessageBuffer ) * void vAFunction( MessageBuffer_t xMessageBuffer )
{ * {
uint8_t ucRxData[ 20 ]; * uint8_t ucRxData[ 20 ];
size_t xReceivedBytes; * size_t xReceivedBytes;
const TickType_t xBlockTime = pdMS_TO_TICKS( 20 ); * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
*
// Receive the next message from the message buffer. Wait in the Blocked * // Receive the next message from the message buffer. Wait in the Blocked
// state (so not using any CPU processing time) for a maximum of 100ms for * // state (so not using any CPU processing time) for a maximum of 100ms for
// a message to become available. * // a message to become available.
xReceivedBytes = xMessageBufferReceive( xMessageBuffer, * xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
( void * ) ucRxData, * ( void * ) ucRxData,
sizeof( ucRxData ), * sizeof( ucRxData ),
xBlockTime ); * xBlockTime );
*
if( xReceivedBytes > 0 ) * if( xReceivedBytes > 0 )
{ * {
// A ucRxData contains a message that is xReceivedBytes long. Process * // A ucRxData contains a message that is xReceivedBytes long. Process
// the message here.... * // the message here....
} * }
} * }
</pre> * </pre>
* \defgroup xMessageBufferReceive xMessageBufferReceive * \defgroup xMessageBufferReceive xMessageBufferReceive
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) #define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer, * size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
void *pvRxData, * void *pvRxData,
size_t xBufferLengthBytes, * size_t xBufferLengthBytes,
BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* An interrupt safe version of the API function that receives a discrete * An interrupt safe version of the API function that receives a discrete
* message from a message buffer. Messages can be of variable length and are * message from a message buffer. Messages can be of variable length and are
@ -560,50 +560,50 @@ size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
* any. * any.
* *
* Example use: * Example use:
<pre> * <pre>
// A message buffer that has already been created. * // A message buffer that has already been created.
MessageBuffer_t xMessageBuffer; * MessageBuffer_t xMessageBuffer;
*
void vAnInterruptServiceRoutine( void ) * void vAnInterruptServiceRoutine( void )
{ * {
uint8_t ucRxData[ 20 ]; * uint8_t ucRxData[ 20 ];
size_t xReceivedBytes; * size_t xReceivedBytes;
BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE. * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
// Receive the next message from the message buffer. * // Receive the next message from the message buffer.
xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer, * xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
( void * ) ucRxData, * ( void * ) ucRxData,
sizeof( ucRxData ), * sizeof( ucRxData ),
&xHigherPriorityTaskWoken ); * &xHigherPriorityTaskWoken );
*
if( xReceivedBytes > 0 ) * if( xReceivedBytes > 0 )
{ * {
// A ucRxData contains a message that is xReceivedBytes long. Process * // A ucRxData contains a message that is xReceivedBytes long. Process
// the message here.... * // the message here....
} * }
*
// If xHigherPriorityTaskWoken was set to pdTRUE inside * // If xHigherPriorityTaskWoken was set to pdTRUE inside
// xMessageBufferReceiveFromISR() then a task that has a priority above the * // xMessageBufferReceiveFromISR() then a task that has a priority above the
// priority of the currently executing task was unblocked and a context * // priority of the currently executing task was unblocked and a context
// switch should be performed to ensure the ISR returns to the unblocked * // switch should be performed to ensure the ISR returns to the unblocked
// task. In most FreeRTOS ports this is done by simply passing * // task. In most FreeRTOS ports this is done by simply passing
// xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the * // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
// variables value, and perform the context switch if necessary. Check the * // variables value, and perform the context switch if necessary. Check the
// documentation for the port in use for port specific instructions. * // documentation for the port in use for port specific instructions.
portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
} * }
</pre> * </pre>
* \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) #define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer ); * void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
</pre> * </pre>
* *
* Deletes a message buffer that was previously created using a call to * Deletes a message buffer that was previously created using a call to
* xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message * xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message
@ -616,13 +616,13 @@ void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
* @param xMessageBuffer The handle of the message buffer to be deleted. * @param xMessageBuffer The handle of the message buffer to be deleted.
* *
*/ */
#define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer ) #define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer )
/** /**
* message_buffer.h * message_buffer.h
<pre> * <pre>
BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) ); * BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
</pre> * </pre>
* *
* Tests to see if a message buffer is full. A message buffer is full if it * Tests to see if a message buffer is full. A message buffer is full if it
* cannot accept any more messages, of any size, until space is made available * cannot accept any more messages, of any size, until space is made available
@ -633,13 +633,13 @@ BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
* @return If the message buffer referenced by xMessageBuffer is full then * @return If the message buffer referenced by xMessageBuffer is full then
* pdTRUE is returned. Otherwise pdFALSE is returned. * pdTRUE is returned. Otherwise pdFALSE is returned.
*/ */
#define xMessageBufferIsFull( xMessageBuffer ) xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer ) #define xMessageBufferIsFull( xMessageBuffer ) xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer )
/** /**
* message_buffer.h * message_buffer.h
<pre> * <pre>
BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) ); * BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
</pre> * </pre>
* *
* Tests to see if a message buffer is empty (does not contain any messages). * Tests to see if a message buffer is empty (does not contain any messages).
* *
@ -649,13 +649,13 @@ BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
* pdTRUE is returned. Otherwise pdFALSE is returned. * pdTRUE is returned. Otherwise pdFALSE is returned.
* *
*/ */
#define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer ) #define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer )
/** /**
* message_buffer.h * message_buffer.h
<pre> * <pre>
BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer ); * BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
</pre> * </pre>
* *
* Resets a message buffer to its initial empty state, discarding any message it * Resets a message buffer to its initial empty state, discarding any message it
* contained. * contained.
@ -672,14 +672,14 @@ BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
* \defgroup xMessageBufferReset xMessageBufferReset * \defgroup xMessageBufferReset xMessageBufferReset
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer ) #define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer )
/** /**
* message_buffer.h * message_buffer.h
<pre> * <pre>
size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) ); * size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
</pre> * </pre>
* Returns the number of bytes of free space in the message buffer. * Returns the number of bytes of free space in the message buffer.
* *
* @param xMessageBuffer The handle of the message buffer being queried. * @param xMessageBuffer The handle of the message buffer being queried.
@ -694,14 +694,14 @@ size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
* \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) #define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer )
#define xMessageBufferSpacesAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */ #define xMessageBufferSpacesAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */
/** /**
* message_buffer.h * message_buffer.h
<pre> * <pre>
size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) ); * size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
</pre> * </pre>
* Returns the length (in bytes) of the next message in a message buffer. * Returns the length (in bytes) of the next message in a message buffer.
* Useful if xMessageBufferReceive() returned 0 because the size of the buffer * Useful if xMessageBufferReceive() returned 0 because the size of the buffer
* passed into xMessageBufferReceive() was too small to hold the next message. * passed into xMessageBufferReceive() was too small to hold the next message.
@ -714,14 +714,14 @@ size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
* \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
* \ingroup MessageBufferManagement * \ingroup MessageBufferManagement
*/ */
#define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION; #define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION;
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* For advanced users only. * For advanced users only.
* *
@ -753,14 +753,14 @@ BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuff
* \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) #define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* For advanced users only. * For advanced users only.
* *
@ -793,10 +793,10 @@ BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamB
* \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) #define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
#if defined( __cplusplus ) #if defined( __cplusplus )
} /* extern "C" */ } /* extern "C" */
#endif #endif
#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */ #endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */

214
include/mpu_prototypes.h
View file

@ -37,19 +37,38 @@
#define MPU_PROTOTYPES_H #define MPU_PROTOTYPES_H
/* MPU versions of tasks.h API functions. */ /* MPU versions of tasks.h API functions. */
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL; const char * const pcName,
BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL; const uint16_t usStackDepth,
BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL; void * const pvParameters,
void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL; UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
TaskHandle_t * pxCreatedTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask,
const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL; void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL; void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL; void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) FREERTOS_SYSTEM_CALL; void MPU_vTaskGetInfo( TaskHandle_t xTask,
void MPU_vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL; TaskStatus_t * pxTaskStatus,
BaseType_t xGetFreeStackSpace,
eTaskState eState ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskPrioritySet( TaskHandle_t xTask,
UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL; void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL; void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL; void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL;
@ -58,90 +77,169 @@ BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL; TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL; char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetHandle( const char *pcNameToQuery ) FREERTOS_SYSTEM_CALL; TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL; void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask,
TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL; TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) FREERTOS_SYSTEM_CALL; void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) FREERTOS_SYSTEM_CALL; BaseType_t xIndex,
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) FREERTOS_SYSTEM_CALL; void * pvValue ) FREERTOS_SYSTEM_CALL;
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
void * pvParameter ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL; TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
const UBaseType_t uxArraySize,
uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL; uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL; void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer ) FREERTOS_SYSTEM_CALL; void MPU_vTaskGetRunTimeStats( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; UBaseType_t uxIndexToNotify,
uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; uint32_t ulValue,
BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask, UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL; eNotifyAction eAction,
uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL; uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear,
uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL; TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL; void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL; void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
/* MPU versions of queue.h API functions. */ /* MPU versions of queue.h API functions. */
BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue,
BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; const void * const pvItemToQueue,
BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; TickType_t xTicksToWait,
BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue,
void * const pvBuffer,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL; QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL; QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL; StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL; QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
const UBaseType_t uxInitialCount,
StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL; TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName ) FREERTOS_SYSTEM_CALL; void MPU_vQueueAddToRegistry( QueueHandle_t xQueue,
const char * pcName ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL; QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL; const UBaseType_t uxItemSize,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
const UBaseType_t uxItemSize,
uint8_t * pucQueueStorage,
StaticQueue_t * pxStaticQueue,
const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL; QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL; QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL; QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL; QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue,
UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL; uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
/* MPU versions of timers.h API functions. */ /* MPU versions of timers.h API functions. */
TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL; TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) FREERTOS_SYSTEM_CALL; const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL;
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload,
void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction,
StaticTimer_t * pxTimerBuffer ) FREERTOS_SYSTEM_CALL;
void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) FREERTOS_SYSTEM_CALL; void MPU_vTimerSetTimerID( TimerHandle_t xTimer,
void * pvNewID ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL; TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
void * pvParameter1,
uint32_t ulParameter2,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
void MPU_vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL; void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL; TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
/* MPU versions of event_group.h API functions. */ /* MPU versions of event_group.h API functions. */
EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL; EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL; EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL; const EventBits_t uxBitsToWaitFor,
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL; const BaseType_t xClearOnExit,
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; const BaseType_t xWaitForAllBits,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL; void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup ) FREERTOS_SYSTEM_CALL; UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL;
/* MPU versions of message/stream_buffer.h API functions. */ /* MPU versions of message/stream_buffer.h API functions. */
size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t xDataLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t xBufferLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL; const void * pvTxData,
size_t xDataLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void * pvRxData,
size_t xBufferLengthBytes,
TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
@ -149,11 +247,17 @@ BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERT
BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL; size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL; BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer ) FREERTOS_SYSTEM_CALL; size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer, uint8_t * const pucStreamBufferStorageArea, StaticStreamBuffer_t * const pxStaticStreamBuffer ) FREERTOS_SYSTEM_CALL; StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer ) FREERTOS_SYSTEM_CALL;
StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer,
uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer ) FREERTOS_SYSTEM_CALL;
#endif /* MPU_PROTOTYPES_H */ #endif /* MPU_PROTOTYPES_H */

269
include/mpu_wrappers.h
View file

@ -28,161 +28,160 @@
#define MPU_WRAPPERS_H #define MPU_WRAPPERS_H
/* This file redefines API functions to be called through a wrapper macro, but /* This file redefines API functions to be called through a wrapper macro, but
only for ports that are using the MPU. */ * only for ports that are using the MPU. */
#ifdef portUSING_MPU_WRAPPERS #ifdef portUSING_MPU_WRAPPERS
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
included from queue.c or task.c to prevent it from having an effect within * included from queue.c or task.c to prevent it from having an effect within
those files. */ * those files. */
#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* /*
* Map standard (non MPU) API functions to equivalents that start * Map standard (non MPU) API functions to equivalents that start
* "MPU_". This will cause the application code to call the MPU_ * "MPU_". This will cause the application code to call the MPU_
* version, which wraps the non-MPU version with privilege promoting * version, which wraps the non-MPU version with privilege promoting
* then demoting code, so the kernel code always runs will full * then demoting code, so the kernel code always runs will full
* privileges. * privileges.
*/ */
/* Map standard tasks.h API functions to the MPU equivalents. */ /* Map standard tasks.h API functions to the MPU equivalents. */
#define xTaskCreate MPU_xTaskCreate #define xTaskCreate MPU_xTaskCreate
#define xTaskCreateStatic MPU_xTaskCreateStatic #define xTaskCreateStatic MPU_xTaskCreateStatic
#define xTaskCreateRestricted MPU_xTaskCreateRestricted #define xTaskCreateRestricted MPU_xTaskCreateRestricted
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define vTaskDelete MPU_vTaskDelete #define vTaskDelete MPU_vTaskDelete
#define vTaskDelay MPU_vTaskDelay #define vTaskDelay MPU_vTaskDelay
#define vTaskDelayUntil MPU_vTaskDelayUntil #define vTaskDelayUntil MPU_vTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay #define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet #define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState #define eTaskGetState MPU_eTaskGetState
#define vTaskGetInfo MPU_vTaskGetInfo #define vTaskGetInfo MPU_vTaskGetInfo
#define vTaskPrioritySet MPU_vTaskPrioritySet #define vTaskPrioritySet MPU_vTaskPrioritySet
#define vTaskSuspend MPU_vTaskSuspend #define vTaskSuspend MPU_vTaskSuspend
#define vTaskResume MPU_vTaskResume #define vTaskResume MPU_vTaskResume
#define vTaskSuspendAll MPU_vTaskSuspendAll #define vTaskSuspendAll MPU_vTaskSuspendAll
#define xTaskResumeAll MPU_xTaskResumeAll #define xTaskResumeAll MPU_xTaskResumeAll
#define xTaskGetTickCount MPU_xTaskGetTickCount #define xTaskGetTickCount MPU_xTaskGetTickCount
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
#define pcTaskGetName MPU_pcTaskGetName #define pcTaskGetName MPU_pcTaskGetName
#define xTaskGetHandle MPU_xTaskGetHandle #define xTaskGetHandle MPU_xTaskGetHandle
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
#define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2 #define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
#define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer #define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer
#define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer #define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define uxTaskGetSystemState MPU_uxTaskGetSystemState #define uxTaskGetSystemState MPU_uxTaskGetSystemState
#define vTaskList MPU_vTaskList #define vTaskList MPU_vTaskList
#define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
#define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter #define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter
#define xTaskGenericNotify MPU_xTaskGenericNotify #define xTaskGenericNotify MPU_xTaskGenericNotify
#define xTaskGenericNotifyWait MPU_xTaskGenericNotifyWait #define xTaskGenericNotifyWait MPU_xTaskGenericNotifyWait
#define ulTaskGenericNotifyTake MPU_ulTaskGenericNotifyTake #define ulTaskGenericNotifyTake MPU_ulTaskGenericNotifyTake
#define xTaskGenericNotifyStateClear MPU_xTaskGenericNotifyStateClear #define xTaskGenericNotifyStateClear MPU_xTaskGenericNotifyStateClear
#define ulTaskGenericNotifyValueClear MPU_ulTaskGenericNotifyValueClear #define ulTaskGenericNotifyValueClear MPU_ulTaskGenericNotifyValueClear
#define xTaskCatchUpTicks MPU_xTaskCatchUpTicks #define xTaskCatchUpTicks MPU_xTaskCatchUpTicks
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
#define vTaskSetTimeOutState MPU_vTaskSetTimeOutState #define vTaskSetTimeOutState MPU_vTaskSetTimeOutState
#define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut #define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
/* Map standard queue.h API functions to the MPU equivalents. */ /* Map standard queue.h API functions to the MPU equivalents. */
#define xQueueGenericSend MPU_xQueueGenericSend #define xQueueGenericSend MPU_xQueueGenericSend
#define xQueueReceive MPU_xQueueReceive #define xQueueReceive MPU_xQueueReceive
#define xQueuePeek MPU_xQueuePeek #define xQueuePeek MPU_xQueuePeek
#define xQueueSemaphoreTake MPU_xQueueSemaphoreTake #define xQueueSemaphoreTake MPU_xQueueSemaphoreTake
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
#define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable #define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable
#define vQueueDelete MPU_vQueueDelete #define vQueueDelete MPU_vQueueDelete
#define xQueueCreateMutex MPU_xQueueCreateMutex #define xQueueCreateMutex MPU_xQueueCreateMutex
#define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic #define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
#define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic #define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic
#define xQueueGetMutexHolder MPU_xQueueGetMutexHolder #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
#define xQueueGenericCreate MPU_xQueueGenericCreate #define xQueueGenericCreate MPU_xQueueGenericCreate
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic #define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
#define xQueueCreateSet MPU_xQueueCreateSet #define xQueueCreateSet MPU_xQueueCreateSet
#define xQueueAddToSet MPU_xQueueAddToSet #define xQueueAddToSet MPU_xQueueAddToSet
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#define xQueueSelectFromSet MPU_xQueueSelectFromSet #define xQueueSelectFromSet MPU_xQueueSelectFromSet
#define xQueueGenericReset MPU_xQueueGenericReset #define xQueueGenericReset MPU_xQueueGenericReset
#if( configQUEUE_REGISTRY_SIZE > 0 ) #if ( configQUEUE_REGISTRY_SIZE > 0 )
#define vQueueAddToRegistry MPU_vQueueAddToRegistry #define vQueueAddToRegistry MPU_vQueueAddToRegistry
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
#define pcQueueGetName MPU_pcQueueGetName #define pcQueueGetName MPU_pcQueueGetName
#endif #endif
/* Map standard timer.h API functions to the MPU equivalents. */ /* Map standard timer.h API functions to the MPU equivalents. */
#define xTimerCreate MPU_xTimerCreate #define xTimerCreate MPU_xTimerCreate
#define xTimerCreateStatic MPU_xTimerCreateStatic #define xTimerCreateStatic MPU_xTimerCreateStatic
#define pvTimerGetTimerID MPU_pvTimerGetTimerID #define pvTimerGetTimerID MPU_pvTimerGetTimerID
#define vTimerSetTimerID MPU_vTimerSetTimerID #define vTimerSetTimerID MPU_vTimerSetTimerID
#define xTimerIsTimerActive MPU_xTimerIsTimerActive #define xTimerIsTimerActive MPU_xTimerIsTimerActive
#define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
#define xTimerPendFunctionCall MPU_xTimerPendFunctionCall #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall
#define pcTimerGetName MPU_pcTimerGetName #define pcTimerGetName MPU_pcTimerGetName
#define vTimerSetReloadMode MPU_vTimerSetReloadMode #define vTimerSetReloadMode MPU_vTimerSetReloadMode
#define uxTimerGetReloadMode MPU_uxTimerGetReloadMode #define uxTimerGetReloadMode MPU_uxTimerGetReloadMode
#define xTimerGetPeriod MPU_xTimerGetPeriod #define xTimerGetPeriod MPU_xTimerGetPeriod
#define xTimerGetExpiryTime MPU_xTimerGetExpiryTime #define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
#define xTimerGenericCommand MPU_xTimerGenericCommand #define xTimerGenericCommand MPU_xTimerGenericCommand
/* Map standard event_group.h API functions to the MPU equivalents. */ /* Map standard event_group.h API functions to the MPU equivalents. */
#define xEventGroupCreate MPU_xEventGroupCreate #define xEventGroupCreate MPU_xEventGroupCreate
#define xEventGroupCreateStatic MPU_xEventGroupCreateStatic #define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
#define xEventGroupWaitBits MPU_xEventGroupWaitBits #define xEventGroupWaitBits MPU_xEventGroupWaitBits
#define xEventGroupClearBits MPU_xEventGroupClearBits #define xEventGroupClearBits MPU_xEventGroupClearBits
#define xEventGroupSetBits MPU_xEventGroupSetBits #define xEventGroupSetBits MPU_xEventGroupSetBits
#define xEventGroupSync MPU_xEventGroupSync #define xEventGroupSync MPU_xEventGroupSync
#define vEventGroupDelete MPU_vEventGroupDelete #define vEventGroupDelete MPU_vEventGroupDelete
/* Map standard message/stream_buffer.h API functions to the MPU /* Map standard message/stream_buffer.h API functions to the MPU
equivalents. */ * equivalents. */
#define xStreamBufferSend MPU_xStreamBufferSend #define xStreamBufferSend MPU_xStreamBufferSend
#define xStreamBufferReceive MPU_xStreamBufferReceive #define xStreamBufferReceive MPU_xStreamBufferReceive
#define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes #define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes
#define vStreamBufferDelete MPU_vStreamBufferDelete #define vStreamBufferDelete MPU_vStreamBufferDelete
#define xStreamBufferIsFull MPU_xStreamBufferIsFull #define xStreamBufferIsFull MPU_xStreamBufferIsFull
#define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty #define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty
#define xStreamBufferReset MPU_xStreamBufferReset #define xStreamBufferReset MPU_xStreamBufferReset
#define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable #define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable
#define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable #define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable
#define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel #define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel
#define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate #define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate
#define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic #define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic
/* Remove the privileged function macro, but keep the PRIVILEGED_DATA /* Remove the privileged function macro, but keep the PRIVILEGED_DATA
macro so applications can place data in privileged access sections * macro so applications can place data in privileged access sections
(useful when using statically allocated objects). */ * (useful when using statically allocated objects). */
#define PRIVILEGED_FUNCTION #define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA __attribute__((section("privileged_data"))) #define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) )
#define FREERTOS_SYSTEM_CALL #define FREERTOS_SYSTEM_CALL
#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
/* Ensure API functions go in the privileged execution section. */ /* Ensure API functions go in the privileged execution section. */
#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions"))) #define PRIVILEGED_FUNCTION __attribute__( ( section( "privileged_functions" ) ) )
#define PRIVILEGED_DATA __attribute__((section("privileged_data"))) #define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) )
#define FREERTOS_SYSTEM_CALL __attribute__((section( "freertos_system_calls"))) #define FREERTOS_SYSTEM_CALL __attribute__( ( section( "freertos_system_calls" ) ) )
#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#else /* portUSING_MPU_WRAPPERS */ #else /* portUSING_MPU_WRAPPERS */
#define PRIVILEGED_FUNCTION #define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA #define PRIVILEGED_DATA
#define FREERTOS_SYSTEM_CALL #define FREERTOS_SYSTEM_CALL
#define portUSING_MPU_WRAPPERS 0 #define portUSING_MPU_WRAPPERS 0
#endif /* portUSING_MPU_WRAPPERS */ #endif /* portUSING_MPU_WRAPPERS */
#endif /* MPU_WRAPPERS_H */ #endif /* MPU_WRAPPERS_H */

212
include/portable.h
View file

@ -25,77 +25,77 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Portable layer API. Each function must be defined for each port. * Portable layer API. Each function must be defined for each port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
#ifndef PORTABLE_H #ifndef PORTABLE_H
#define PORTABLE_H #define PORTABLE_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a /* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct * pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour * portmacro.h file for the port being used. That scheme was deprecated in favour
of setting the compiler's include path such that it found the correct * of setting the compiler's include path such that it found the correct
portmacro.h file - removing the need for the constant and allowing the * portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used. * portmacro.h file to be located anywhere in relation to the port being used.
Purely for reasons of backward compatibility the old method is still valid, but * Purely for reasons of backward compatibility the old method is still valid, but
to make it clear that new projects should not use it, support for the port * to make it clear that new projects should not use it, support for the port
specific constants has been moved into the deprecated_definitions.h header * specific constants has been moved into the deprecated_definitions.h header
file. */ * file. */
#include "deprecated_definitions.h" #include "deprecated_definitions.h"
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h /* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
did not result in a portmacro.h header file being included - and it should be * did not result in a portmacro.h header file being included - and it should be
included here. In this case the path to the correct portmacro.h header file * included here. In this case the path to the correct portmacro.h header file
must be set in the compiler's include path. */ * must be set in the compiler's include path. */
#ifndef portENTER_CRITICAL #ifndef portENTER_CRITICAL
#include "portmacro.h" #include "portmacro.h"
#endif #endif
#if portBYTE_ALIGNMENT == 32 #if portBYTE_ALIGNMENT == 32
#define portBYTE_ALIGNMENT_MASK ( 0x001f ) #define portBYTE_ALIGNMENT_MASK ( 0x001f )
#endif #endif
#if portBYTE_ALIGNMENT == 16 #if portBYTE_ALIGNMENT == 16
#define portBYTE_ALIGNMENT_MASK ( 0x000f ) #define portBYTE_ALIGNMENT_MASK ( 0x000f )
#endif #endif
#if portBYTE_ALIGNMENT == 8 #if portBYTE_ALIGNMENT == 8
#define portBYTE_ALIGNMENT_MASK ( 0x0007 ) #define portBYTE_ALIGNMENT_MASK ( 0x0007 )
#endif #endif
#if portBYTE_ALIGNMENT == 4 #if portBYTE_ALIGNMENT == 4
#define portBYTE_ALIGNMENT_MASK ( 0x0003 ) #define portBYTE_ALIGNMENT_MASK ( 0x0003 )
#endif #endif
#if portBYTE_ALIGNMENT == 2 #if portBYTE_ALIGNMENT == 2
#define portBYTE_ALIGNMENT_MASK ( 0x0001 ) #define portBYTE_ALIGNMENT_MASK ( 0x0001 )
#endif #endif
#if portBYTE_ALIGNMENT == 1 #if portBYTE_ALIGNMENT == 1
#define portBYTE_ALIGNMENT_MASK ( 0x0000 ) #define portBYTE_ALIGNMENT_MASK ( 0x0000 )
#endif #endif
#ifndef portBYTE_ALIGNMENT_MASK #ifndef portBYTE_ALIGNMENT_MASK
#error "Invalid portBYTE_ALIGNMENT definition" #error "Invalid portBYTE_ALIGNMENT definition"
#endif #endif
#ifndef portNUM_CONFIGURABLE_REGIONS #ifndef portNUM_CONFIGURABLE_REGIONS
#define portNUM_CONFIGURABLE_REGIONS 1 #define portNUM_CONFIGURABLE_REGIONS 1
#endif #endif
#ifndef portHAS_STACK_OVERFLOW_CHECKING #ifndef portHAS_STACK_OVERFLOW_CHECKING
#define portHAS_STACK_OVERFLOW_CHECKING 0 #define portHAS_STACK_OVERFLOW_CHECKING 0
#endif #endif
#ifndef portARCH_NAME #ifndef portARCH_NAME
#define portARCH_NAME NULL #define portARCH_NAME NULL
#endif #endif
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
#include "mpu_wrappers.h" #include "mpu_wrappers.h"
/* /*
* Setup the stack of a new task so it is ready to be placed under the * Setup the stack of a new task so it is ready to be placed under the
@ -103,39 +103,51 @@ extern "C" {
* the order that the port expects to find them. * the order that the port expects to find them.
* *
*/ */
#if( portUSING_MPU_WRAPPERS == 1 ) #if ( portUSING_MPU_WRAPPERS == 1 )
#if( portHAS_STACK_OVERFLOW_CHECKING == 1 ) #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
#else StackType_t * pxEndOfStack,
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; TaskFunction_t pxCode,
#endif void * pvParameters,
#else BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
#if( portHAS_STACK_OVERFLOW_CHECKING == 1 ) #else
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION; StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
#else TaskFunction_t pxCode,
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION; void * pvParameters,
#endif BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
#endif #endif
#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack,
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION;
#else
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters ) PRIVILEGED_FUNCTION;
#endif
#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */
/* Used by heap_5.c to define the start address and size of each memory region /* Used by heap_5.c to define the start address and size of each memory region
that together comprise the total FreeRTOS heap space. */ * that together comprise the total FreeRTOS heap space. */
typedef struct HeapRegion typedef struct HeapRegion
{ {
uint8_t *pucStartAddress; uint8_t * pucStartAddress;
size_t xSizeInBytes; size_t xSizeInBytes;
} HeapRegion_t; } HeapRegion_t;
/* Used to pass information about the heap out of vPortGetHeapStats(). */ /* Used to pass information about the heap out of vPortGetHeapStats(). */
typedef struct xHeapStats typedef struct xHeapStats
{ {
size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */ size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */ size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */ size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */ size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */ size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */
} HeapStats_t; } HeapStats_t;
/* /*
* Used to define multiple heap regions for use by heap_5.c. This function * Used to define multiple heap regions for use by heap_5.c. This function
@ -148,35 +160,35 @@ typedef struct xHeapStats
* terminated by a HeapRegions_t structure that has a size of 0. The region * terminated by a HeapRegions_t structure that has a size of 0. The region
* with the lowest start address must appear first in the array. * with the lowest start address must appear first in the array.
*/ */
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION; void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
/* /*
* Returns a HeapStats_t structure filled with information about the current * Returns a HeapStats_t structure filled with information about the current
* heap state. * heap state.
*/ */
void vPortGetHeapStats( HeapStats_t *pxHeapStats ); void vPortGetHeapStats( HeapStats_t * pxHeapStats );
/* /*
* Map to the memory management routines required for the port. * Map to the memory management routines required for the port.
*/ */
void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION; void * pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
void vPortFree( void *pv ) PRIVILEGED_FUNCTION; void vPortFree( void * pv ) PRIVILEGED_FUNCTION;
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION; size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
/* /*
* Setup the hardware ready for the scheduler to take control. This generally * Setup the hardware ready for the scheduler to take control. This generally
* sets up a tick interrupt and sets timers for the correct tick frequency. * sets up a tick interrupt and sets timers for the correct tick frequency.
*/ */
BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION; BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
/* /*
* Undo any hardware/ISR setup that was performed by xPortStartScheduler() so * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
* the hardware is left in its original condition after the scheduler stops * the hardware is left in its original condition after the scheduler stops
* executing. * executing.
*/ */
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION; void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
/* /*
* The structures and methods of manipulating the MPU are contained within the * The structures and methods of manipulating the MPU are contained within the
@ -185,14 +197,16 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
* Fills the xMPUSettings structure with the memory region information * Fills the xMPUSettings structure with the memory region information
* contained in xRegions. * contained in xRegions.
*/ */
#if( portUSING_MPU_WRAPPERS == 1 ) #if ( portUSING_MPU_WRAPPERS == 1 )
struct xMEMORY_REGION; struct xMEMORY_REGION;
void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth ) PRIVILEGED_FUNCTION; void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
#endif const struct xMEMORY_REGION * const xRegions,
StackType_t * pxBottomOfStack,
uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
#endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTABLE_H */ #endif /* PORTABLE_H */

129
include/projdefs.h
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@ -31,93 +31,90 @@
* Defines the prototype to which task functions must conform. Defined in this * Defines the prototype to which task functions must conform. Defined in this
* file to ensure the type is known before portable.h is included. * file to ensure the type is known before portable.h is included.
*/ */
typedef void (*TaskFunction_t)( void * ); typedef void (* TaskFunction_t)( void * );
/* Converts a time in milliseconds to a time in ticks. This macro can be /* Converts a time in milliseconds to a time in ticks. This macro can be
overridden by a macro of the same name defined in FreeRTOSConfig.h in case the * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
definition here is not suitable for your application. */ * definition here is not suitable for your application. */
#ifndef pdMS_TO_TICKS #ifndef pdMS_TO_TICKS
#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) ) #define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
#endif #endif
#define pdFALSE ( ( BaseType_t ) 0 ) #define pdFALSE ( ( BaseType_t ) 0 )
#define pdTRUE ( ( BaseType_t ) 1 ) #define pdTRUE ( ( BaseType_t ) 1 )
#define pdPASS ( pdTRUE ) #define pdPASS ( pdTRUE )
#define pdFAIL ( pdFALSE ) #define pdFAIL ( pdFALSE )
#define errQUEUE_EMPTY ( ( BaseType_t ) 0 ) #define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
#define errQUEUE_FULL ( ( BaseType_t ) 0 ) #define errQUEUE_FULL ( ( BaseType_t ) 0 )
/* FreeRTOS error definitions. */ /* FreeRTOS error definitions. */
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) #define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
#define errQUEUE_BLOCKED ( -4 ) #define errQUEUE_BLOCKED ( -4 )
#define errQUEUE_YIELD ( -5 ) #define errQUEUE_YIELD ( -5 )
/* Macros used for basic data corruption checks. */ /* Macros used for basic data corruption checks. */
#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES #ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0 #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
#endif #endif
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a #define pdINTEGRITY_CHECK_VALUE 0x5a5a
#else #else
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
#endif #endif
/* The following errno values are used by FreeRTOS+ components, not FreeRTOS /* The following errno values are used by FreeRTOS+ components, not FreeRTOS
itself. */ * itself. */
#define pdFREERTOS_ERRNO_NONE 0 /* No errors */ #define pdFREERTOS_ERRNO_NONE 0 /* No errors */
#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */ #define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */ #define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */
#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */ #define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */ #define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */ #define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */ #define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */ #define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */ #define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */ #define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */ #define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */ #define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */ #define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */ #define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */ #define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */ #define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */ #define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */ #define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */ #define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */ #define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */ #define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */ #define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */ #define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */ #define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */ #define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */ #define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */ #define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */ #define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */ #define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */ #define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */ #define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */ #define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */ #define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */ #define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */ #define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */ #define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */ #define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */ #define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */ #define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */ #define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS /* The following endian values are used by FreeRTOS+ components, not FreeRTOS
itself. */ * itself. */
#define pdFREERTOS_LITTLE_ENDIAN 0 #define pdFREERTOS_LITTLE_ENDIAN 0
#define pdFREERTOS_BIG_ENDIAN 1 #define pdFREERTOS_BIG_ENDIAN 1
/* Re-defining endian values for generic naming. */ /* Re-defining endian values for generic naming. */
#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN #define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN
#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN #define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN
#endif /* PROJDEFS_H */ #endif /* PROJDEFS_H */

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include/queue.h
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872
include/semphr.h
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111
include/stack_macros.h
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@ -43,86 +43,85 @@
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
/* Only the current stack state is to be checked. */ /* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
/* Is the currently saved stack pointer within the stack limit? */ \ /* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
/* Only the current stack state is to be checked. */ /* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
\ \
/* Is the currently saved stack pointer within the stack limit? */ \ /* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \ if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \ const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \ const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
\ \
if( ( pulStack[ 0 ] != ulCheckValue ) || \ if( ( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \ ( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \ ( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \ ( pulStack[ 3 ] != ulCheckValue ) ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \ #define taskCHECK_FOR_STACK_OVERFLOW() \
{ \ { \
int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \ int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \ tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
\ \
\ \
pcEndOfStack -= sizeof( ucExpectedStackBytes ); \ pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
\ \
/* Has the extremity of the task stack ever been written over? */ \ /* Has the extremity of the task stack ever been written over? */ \
if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
{ \ { \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \ } \
} }
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */ /* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW #ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW() #define taskCHECK_FOR_STACK_OVERFLOW()
#endif #endif
#endif /* STACK_MACROS_H */ #endif /* STACK_MACROS_H */

580
include/stream_buffer.h
View file

@ -48,15 +48,15 @@
*/ */
#ifndef STREAM_BUFFER_H #ifndef STREAM_BUFFER_H
#define STREAM_BUFFER_H #define STREAM_BUFFER_H
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include stream_buffer.h" #error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
#endif #endif
#if defined( __cplusplus ) #if defined( __cplusplus )
extern "C" { extern "C" {
#endif #endif
/** /**
* Type by which stream buffers are referenced. For example, a call to * Type by which stream buffers are referenced. For example, a call to
@ -64,16 +64,16 @@ extern "C" {
* then be used as a parameter to xStreamBufferSend(), xStreamBufferReceive(), * then be used as a parameter to xStreamBufferSend(), xStreamBufferReceive(),
* etc. * etc.
*/ */
struct StreamBufferDef_t; struct StreamBufferDef_t;
typedef struct StreamBufferDef_t * StreamBufferHandle_t; typedef struct StreamBufferDef_t * StreamBufferHandle_t;
/** /**
* message_buffer.h * message_buffer.h
* *
<pre> * <pre>
StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes ); * StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
</pre> * </pre>
* *
* Creates a new stream buffer using dynamically allocated memory. See * Creates a new stream buffer using dynamically allocated memory. See
* xStreamBufferCreateStatic() for a version that uses statically allocated * xStreamBufferCreateStatic() for a version that uses statically allocated
@ -107,43 +107,43 @@ StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTrigg
* buffer. * buffer.
* *
* Example use: * Example use:
<pre> * <pre>
*
void vAFunction( void ) * void vAFunction( void )
{ * {
StreamBufferHandle_t xStreamBuffer; * StreamBufferHandle_t xStreamBuffer;
const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10; * const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
*
// Create a stream buffer that can hold 100 bytes. The memory used to hold * // Create a stream buffer that can hold 100 bytes. The memory used to hold
// both the stream buffer structure and the data in the stream buffer is * // both the stream buffer structure and the data in the stream buffer is
// allocated dynamically. * // allocated dynamically.
xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel ); * xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
*
if( xStreamBuffer == NULL ) * if( xStreamBuffer == NULL )
{ * {
// There was not enough heap memory space available to create the * // There was not enough heap memory space available to create the
// stream buffer. * // stream buffer.
} * }
else * else
{ * {
// The stream buffer was created successfully and can now be used. * // The stream buffer was created successfully and can now be used.
} * }
} * }
</pre> * </pre>
* \defgroup xStreamBufferCreate xStreamBufferCreate * \defgroup xStreamBufferCreate xStreamBufferCreate
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE ) #define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE )
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes, * StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes, * size_t xTriggerLevelBytes,
uint8_t *pucStreamBufferStorageArea, * uint8_t *pucStreamBufferStorageArea,
StaticStreamBuffer_t *pxStaticStreamBuffer ); * StaticStreamBuffer_t *pxStaticStreamBuffer );
</pre> * </pre>
* Creates a new stream buffer using statically allocated memory. See * Creates a new stream buffer using statically allocated memory. See
* xStreamBufferCreate() for a version that uses dynamically allocated memory. * xStreamBufferCreate() for a version that uses dynamically allocated memory.
* *
@ -180,51 +180,51 @@ StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
* pxStaticstreamBuffer are NULL then NULL is returned. * pxStaticstreamBuffer are NULL then NULL is returned.
* *
* Example use: * Example use:
<pre> * <pre>
*
// Used to dimension the array used to hold the streams. The available space * // Used to dimension the array used to hold the streams. The available space
// will actually be one less than this, so 999. * // will actually be one less than this, so 999.
#define STORAGE_SIZE_BYTES 1000 #define STORAGE_SIZE_BYTES 1000
*
// Defines the memory that will actually hold the streams within the stream * // Defines the memory that will actually hold the streams within the stream
// buffer. * // buffer.
static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ]; * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
*
// The variable used to hold the stream buffer structure. * // The variable used to hold the stream buffer structure.
StaticStreamBuffer_t xStreamBufferStruct; * StaticStreamBuffer_t xStreamBufferStruct;
*
void MyFunction( void ) * void MyFunction( void )
{ * {
StreamBufferHandle_t xStreamBuffer; * StreamBufferHandle_t xStreamBuffer;
const size_t xTriggerLevel = 1; * const size_t xTriggerLevel = 1;
*
xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ), * xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ),
xTriggerLevel, * xTriggerLevel,
ucBufferStorage, * ucBufferStorage,
&xStreamBufferStruct ); * &xStreamBufferStruct );
*
// As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer * // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
// parameters were NULL, xStreamBuffer will not be NULL, and can be used to * // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
// reference the created stream buffer in other stream buffer API calls. * // reference the created stream buffer in other stream buffer API calls.
*
// Other code that uses the stream buffer can go here. * // Other code that uses the stream buffer can go here.
} * }
*
</pre> * </pre>
* \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic * \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer ) #define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer )
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, * size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
const void *pvTxData, * const void *pvTxData,
size_t xDataLengthBytes, * size_t xDataLengthBytes,
TickType_t xTicksToWait ); * TickType_t xTicksToWait );
</pre> * </pre>
* *
* Sends bytes to a stream buffer. The bytes are copied into the stream buffer. * Sends bytes to a stream buffer. The bytes are copied into the stream buffer.
* *
@ -274,54 +274,54 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
* write as many bytes as possible. * write as many bytes as possible.
* *
* Example use: * Example use:
<pre> * <pre>
void vAFunction( StreamBufferHandle_t xStreamBuffer ) * void vAFunction( StreamBufferHandle_t xStreamBuffer )
{ * {
size_t xBytesSent; * size_t xBytesSent;
uint8_t ucArrayToSend[] = { 0, 1, 2, 3 }; * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
char *pcStringToSend = "String to send"; * char *pcStringToSend = "String to send";
const TickType_t x100ms = pdMS_TO_TICKS( 100 ); * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
*
// Send an array to the stream buffer, blocking for a maximum of 100ms to * // Send an array to the stream buffer, blocking for a maximum of 100ms to
// wait for enough space to be available in the stream buffer. * // wait for enough space to be available in the stream buffer.
xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms ); * xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
*
if( xBytesSent != sizeof( ucArrayToSend ) ) * if( xBytesSent != sizeof( ucArrayToSend ) )
{ * {
// The call to xStreamBufferSend() times out before there was enough * // The call to xStreamBufferSend() times out before there was enough
// space in the buffer for the data to be written, but it did * // space in the buffer for the data to be written, but it did
// successfully write xBytesSent bytes. * // successfully write xBytesSent bytes.
} * }
*
// Send the string to the stream buffer. Return immediately if there is not * // Send the string to the stream buffer. Return immediately if there is not
// enough space in the buffer. * // enough space in the buffer.
xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 ); * xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
*
if( xBytesSent != strlen( pcStringToSend ) ) * if( xBytesSent != strlen( pcStringToSend ) )
{ * {
// The entire string could not be added to the stream buffer because * // The entire string could not be added to the stream buffer because
// there was not enough free space in the buffer, but xBytesSent bytes * // there was not enough free space in the buffer, but xBytesSent bytes
// were sent. Could try again to send the remaining bytes. * // were sent. Could try again to send the remaining bytes.
} * }
} * }
</pre> * </pre>
* \defgroup xStreamBufferSend xStreamBufferSend * \defgroup xStreamBufferSend xStreamBufferSend
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
const void *pvTxData, const void * pvTxData,
size_t xDataLengthBytes, size_t xDataLengthBytes,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, * size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
const void *pvTxData, * const void *pvTxData,
size_t xDataLengthBytes, * size_t xDataLengthBytes,
BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* Interrupt safe version of the API function that sends a stream of bytes to * Interrupt safe version of the API function that sends a stream of bytes to
* the stream buffer. * the stream buffer.
@ -373,56 +373,56 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
* space for all the bytes to be written. * space for all the bytes to be written.
* *
* Example use: * Example use:
<pre> * <pre>
// A stream buffer that has already been created. * // A stream buffer that has already been created.
StreamBufferHandle_t xStreamBuffer; * StreamBufferHandle_t xStreamBuffer;
*
void vAnInterruptServiceRoutine( void ) * void vAnInterruptServiceRoutine( void )
{ * {
size_t xBytesSent; * size_t xBytesSent;
char *pcStringToSend = "String to send"; * char *pcStringToSend = "String to send";
BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE. * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
// Attempt to send the string to the stream buffer. * // Attempt to send the string to the stream buffer.
xBytesSent = xStreamBufferSendFromISR( xStreamBuffer, * xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
( void * ) pcStringToSend, * ( void * ) pcStringToSend,
strlen( pcStringToSend ), * strlen( pcStringToSend ),
&xHigherPriorityTaskWoken ); * &xHigherPriorityTaskWoken );
*
if( xBytesSent != strlen( pcStringToSend ) ) * if( xBytesSent != strlen( pcStringToSend ) )
{ * {
// There was not enough free space in the stream buffer for the entire * // There was not enough free space in the stream buffer for the entire
// string to be written, ut xBytesSent bytes were written. * // string to be written, ut xBytesSent bytes were written.
} * }
*
// If xHigherPriorityTaskWoken was set to pdTRUE inside * // If xHigherPriorityTaskWoken was set to pdTRUE inside
// xStreamBufferSendFromISR() then a task that has a priority above the * // xStreamBufferSendFromISR() then a task that has a priority above the
// priority of the currently executing task was unblocked and a context * // priority of the currently executing task was unblocked and a context
// switch should be performed to ensure the ISR returns to the unblocked * // switch should be performed to ensure the ISR returns to the unblocked
// task. In most FreeRTOS ports this is done by simply passing * // task. In most FreeRTOS ports this is done by simply passing
// xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the * // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
// variables value, and perform the context switch if necessary. Check the * // variables value, and perform the context switch if necessary. Check the
// documentation for the port in use for port specific instructions. * // documentation for the port in use for port specific instructions.
taskYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
} * }
</pre> * </pre>
* \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
const void *pvTxData, const void * pvTxData,
size_t xDataLengthBytes, size_t xDataLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, * size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void *pvRxData, * void *pvRxData,
size_t xBufferLengthBytes, * size_t xBufferLengthBytes,
TickType_t xTicksToWait ); * TickType_t xTicksToWait );
</pre> * </pre>
* *
* Receives bytes from a stream buffer. * Receives bytes from a stream buffer.
* *
@ -472,46 +472,46 @@ size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
* out before xBufferLengthBytes were available. * out before xBufferLengthBytes were available.
* *
* Example use: * Example use:
<pre> * <pre>
void vAFunction( StreamBuffer_t xStreamBuffer ) * void vAFunction( StreamBuffer_t xStreamBuffer )
{ * {
uint8_t ucRxData[ 20 ]; * uint8_t ucRxData[ 20 ];
size_t xReceivedBytes; * size_t xReceivedBytes;
const TickType_t xBlockTime = pdMS_TO_TICKS( 20 ); * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
*
// Receive up to another sizeof( ucRxData ) bytes from the stream buffer. * // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
// Wait in the Blocked state (so not using any CPU processing time) for a * // Wait in the Blocked state (so not using any CPU processing time) for a
// maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be * // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
// available. * // available.
xReceivedBytes = xStreamBufferReceive( xStreamBuffer, * xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
( void * ) ucRxData, * ( void * ) ucRxData,
sizeof( ucRxData ), * sizeof( ucRxData ),
xBlockTime ); * xBlockTime );
*
if( xReceivedBytes > 0 ) * if( xReceivedBytes > 0 )
{ * {
// A ucRxData contains another xRecievedBytes bytes of data, which can * // A ucRxData contains another xRecievedBytes bytes of data, which can
// be processed here.... * // be processed here....
} * }
} * }
</pre> * </pre>
* \defgroup xStreamBufferReceive xStreamBufferReceive * \defgroup xStreamBufferReceive xStreamBufferReceive
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
void *pvRxData, void * pvRxData,
size_t xBufferLengthBytes, size_t xBufferLengthBytes,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, * size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
void *pvRxData, * void *pvRxData,
size_t xBufferLengthBytes, * size_t xBufferLengthBytes,
BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* An interrupt safe version of the API function that receives bytes from a * An interrupt safe version of the API function that receives bytes from a
* stream buffer. * stream buffer.
@ -548,53 +548,53 @@ size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
* @return The number of bytes read from the stream buffer, if any. * @return The number of bytes read from the stream buffer, if any.
* *
* Example use: * Example use:
<pre> * <pre>
// A stream buffer that has already been created. * // A stream buffer that has already been created.
StreamBuffer_t xStreamBuffer; * StreamBuffer_t xStreamBuffer;
*
void vAnInterruptServiceRoutine( void ) * void vAnInterruptServiceRoutine( void )
{ * {
uint8_t ucRxData[ 20 ]; * uint8_t ucRxData[ 20 ];
size_t xReceivedBytes; * size_t xReceivedBytes;
BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE. * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
*
// Receive the next stream from the stream buffer. * // Receive the next stream from the stream buffer.
xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer, * xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
( void * ) ucRxData, * ( void * ) ucRxData,
sizeof( ucRxData ), * sizeof( ucRxData ),
&xHigherPriorityTaskWoken ); * &xHigherPriorityTaskWoken );
*
if( xReceivedBytes > 0 ) * if( xReceivedBytes > 0 )
{ * {
// ucRxData contains xReceivedBytes read from the stream buffer. * // ucRxData contains xReceivedBytes read from the stream buffer.
// Process the stream here.... * // Process the stream here....
} * }
*
// If xHigherPriorityTaskWoken was set to pdTRUE inside * // If xHigherPriorityTaskWoken was set to pdTRUE inside
// xStreamBufferReceiveFromISR() then a task that has a priority above the * // xStreamBufferReceiveFromISR() then a task that has a priority above the
// priority of the currently executing task was unblocked and a context * // priority of the currently executing task was unblocked and a context
// switch should be performed to ensure the ISR returns to the unblocked * // switch should be performed to ensure the ISR returns to the unblocked
// task. In most FreeRTOS ports this is done by simply passing * // task. In most FreeRTOS ports this is done by simply passing
// xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the * // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
// variables value, and perform the context switch if necessary. Check the * // variables value, and perform the context switch if necessary. Check the
// documentation for the port in use for port specific instructions. * // documentation for the port in use for port specific instructions.
taskYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
} * }
</pre> * </pre>
* \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
void *pvRxData, void * pvRxData,
size_t xBufferLengthBytes, size_t xBufferLengthBytes,
BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ); * void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
</pre> * </pre>
* *
* Deletes a stream buffer that was previously created using a call to * Deletes a stream buffer that was previously created using a call to
* xStreamBufferCreate() or xStreamBufferCreateStatic(). If the stream * xStreamBufferCreate() or xStreamBufferCreateStatic(). If the stream
@ -609,14 +609,14 @@ void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
* \defgroup vStreamBufferDelete vStreamBufferDelete * \defgroup vStreamBufferDelete vStreamBufferDelete
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ); * BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
</pre> * </pre>
* *
* Queries a stream buffer to see if it is full. A stream buffer is full if it * Queries a stream buffer to see if it is full. A stream buffer is full if it
* does not have any free space, and therefore cannot accept any more data. * does not have any free space, and therefore cannot accept any more data.
@ -629,14 +629,14 @@ BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
* \defgroup xStreamBufferIsFull xStreamBufferIsFull * \defgroup xStreamBufferIsFull xStreamBufferIsFull
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ); * BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
</pre> * </pre>
* *
* Queries a stream buffer to see if it is empty. A stream buffer is empty if * Queries a stream buffer to see if it is empty. A stream buffer is empty if
* it does not contain any data. * it does not contain any data.
@ -649,14 +649,14 @@ BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
* \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty * \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ); * BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
</pre> * </pre>
* *
* Resets a stream buffer to its initial, empty, state. Any data that was in * Resets a stream buffer to its initial, empty, state. Any data that was in
* the stream buffer is discarded. A stream buffer can only be reset if there * the stream buffer is discarded. A stream buffer can only be reset if there
@ -672,14 +672,14 @@ BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
* \defgroup xStreamBufferReset xStreamBufferReset * \defgroup xStreamBufferReset xStreamBufferReset
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ); * size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
</pre> * </pre>
* *
* Queries a stream buffer to see how much free space it contains, which is * Queries a stream buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the stream buffer before it * equal to the amount of data that can be sent to the stream buffer before it
@ -693,14 +693,14 @@ size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
* \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable * \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ); * size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
</pre> * </pre>
* *
* Queries a stream buffer to see how much data it contains, which is equal to * Queries a stream buffer to see how much data it contains, which is equal to
* the number of bytes that can be read from the stream buffer before the stream * the number of bytes that can be read from the stream buffer before the stream
@ -714,14 +714,14 @@ size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
* \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable * \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ); * BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
</pre> * </pre>
* *
* A stream buffer's trigger level is the number of bytes that must be in the * A stream buffer's trigger level is the number of bytes that must be in the
* stream buffer before a task that is blocked on the stream buffer to * stream buffer before a task that is blocked on the stream buffer to
@ -751,14 +751,15 @@ BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, siz
* \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel * \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) PRIVILEGED_FUNCTION; BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* For advanced users only. * For advanced users only.
* *
@ -790,14 +791,15 @@ BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer
* \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR * \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/** /**
* stream_buffer.h * stream_buffer.h
* *
<pre> * <pre>
BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
</pre> * </pre>
* *
* For advanced users only. * For advanced users only.
* *
@ -830,29 +832,31 @@ BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuf
* \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR * \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR
* \ingroup StreamBufferManagement * \ingroup StreamBufferManagement
*/ */
BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/* Functions below here are not part of the public API. */ /* Functions below here are not part of the public API. */
StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes, size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION; BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION;
StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
size_t xTriggerLevelBytes, size_t xTriggerLevelBytes,
BaseType_t xIsMessageBuffer, BaseType_t xIsMessageBuffer,
uint8_t * const pucStreamBufferStorageArea, uint8_t * const pucStreamBufferStorageArea,
StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION; StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#if( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION; void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer,
UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#endif uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
#endif
#if defined( __cplusplus ) #if defined( __cplusplus )
} }
#endif #endif
#endif /* !defined( STREAM_BUFFER_H ) */ #endif /* !defined( STREAM_BUFFER_H ) */

1813
include/task.h
View file

File diff suppressed because it is too large Load diff

309
include/timers.h
View file

@ -26,44 +26,44 @@
#ifndef TIMERS_H #ifndef TIMERS_H
#define TIMERS_H #define TIMERS_H
#ifndef INC_FREERTOS_H #ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include timers.h" #error "include FreeRTOS.h must appear in source files before include timers.h"
#endif #endif
/*lint -save -e537 This headers are only multiply included if the application code /*lint -save -e537 This headers are only multiply included if the application code
happens to also be including task.h. */ * happens to also be including task.h. */
#include "task.h" #include "task.h"
/*lint -restore */ /*lint -restore */
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* MACROS AND DEFINITIONS * MACROS AND DEFINITIONS
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* IDs for commands that can be sent/received on the timer queue. These are to /* IDs for commands that can be sent/received on the timer queue. These are to
be used solely through the macros that make up the public software timer API, * be used solely through the macros that make up the public software timer API,
as defined below. The commands that are sent from interrupts must use the * as defined below. The commands that are sent from interrupts must use the
highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task * highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
or interrupt version of the queue send function should be used. */ * or interrupt version of the queue send function should be used. */
#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR ( ( BaseType_t ) -2 ) #define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR ( ( BaseType_t ) -2 )
#define tmrCOMMAND_EXECUTE_CALLBACK ( ( BaseType_t ) -1 ) #define tmrCOMMAND_EXECUTE_CALLBACK ( ( BaseType_t ) -1 )
#define tmrCOMMAND_START_DONT_TRACE ( ( BaseType_t ) 0 ) #define tmrCOMMAND_START_DONT_TRACE ( ( BaseType_t ) 0 )
#define tmrCOMMAND_START ( ( BaseType_t ) 1 ) #define tmrCOMMAND_START ( ( BaseType_t ) 1 )
#define tmrCOMMAND_RESET ( ( BaseType_t ) 2 ) #define tmrCOMMAND_RESET ( ( BaseType_t ) 2 )
#define tmrCOMMAND_STOP ( ( BaseType_t ) 3 ) #define tmrCOMMAND_STOP ( ( BaseType_t ) 3 )
#define tmrCOMMAND_CHANGE_PERIOD ( ( BaseType_t ) 4 ) #define tmrCOMMAND_CHANGE_PERIOD ( ( BaseType_t ) 4 )
#define tmrCOMMAND_DELETE ( ( BaseType_t ) 5 ) #define tmrCOMMAND_DELETE ( ( BaseType_t ) 5 )
#define tmrFIRST_FROM_ISR_COMMAND ( ( BaseType_t ) 6 ) #define tmrFIRST_FROM_ISR_COMMAND ( ( BaseType_t ) 6 )
#define tmrCOMMAND_START_FROM_ISR ( ( BaseType_t ) 6 ) #define tmrCOMMAND_START_FROM_ISR ( ( BaseType_t ) 6 )
#define tmrCOMMAND_RESET_FROM_ISR ( ( BaseType_t ) 7 ) #define tmrCOMMAND_RESET_FROM_ISR ( ( BaseType_t ) 7 )
#define tmrCOMMAND_STOP_FROM_ISR ( ( BaseType_t ) 8 ) #define tmrCOMMAND_STOP_FROM_ISR ( ( BaseType_t ) 8 )
#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR ( ( BaseType_t ) 9 ) #define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR ( ( BaseType_t ) 9 )
/** /**
@ -72,26 +72,27 @@ or interrupt version of the queue send function should be used. */
* reference the subject timer in calls to other software timer API functions * reference the subject timer in calls to other software timer API functions
* (for example, xTimerStart(), xTimerReset(), etc.). * (for example, xTimerStart(), xTimerReset(), etc.).
*/ */
struct tmrTimerControl; /* The old naming convention is used to prevent breaking kernel aware debuggers. */ struct tmrTimerControl; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
typedef struct tmrTimerControl * TimerHandle_t; typedef struct tmrTimerControl * TimerHandle_t;
/* /*
* Defines the prototype to which timer callback functions must conform. * Defines the prototype to which timer callback functions must conform.
*/ */
typedef void (*TimerCallbackFunction_t)( TimerHandle_t xTimer ); typedef void (* TimerCallbackFunction_t)( TimerHandle_t xTimer );
/* /*
* Defines the prototype to which functions used with the * Defines the prototype to which functions used with the
* xTimerPendFunctionCallFromISR() function must conform. * xTimerPendFunctionCallFromISR() function must conform.
*/ */
typedef void (*PendedFunction_t)( void *, uint32_t ); typedef void (* PendedFunction_t)( void *,
uint32_t );
/** /**
* TimerHandle_t xTimerCreate( const char * const pcTimerName, * TimerHandle_t xTimerCreate( const char * const pcTimerName,
* TickType_t xTimerPeriodInTicks, * TickType_t xTimerPeriodInTicks,
* UBaseType_t uxAutoReload, * UBaseType_t uxAutoReload,
* void * pvTimerID, * void * pvTimerID,
* TimerCallbackFunction_t pxCallbackFunction ); * TimerCallbackFunction_t pxCallbackFunction );
* *
* Creates a new software timer instance, and returns a handle by which the * Creates a new software timer instance, and returns a handle by which the
* created software timer can be referenced. * created software timer can be referenced.
@ -160,8 +161,8 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
* int32_t lArrayIndex; * int32_t lArrayIndex;
* const int32_t xMaxExpiryCountBeforeStopping = 10; * const int32_t xMaxExpiryCountBeforeStopping = 10;
* *
* // Optionally do something if the pxTimer parameter is NULL. * // Optionally do something if the pxTimer parameter is NULL.
* configASSERT( pxTimer ); * configASSERT( pxTimer );
* *
* // Which timer expired? * // Which timer expired?
* lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer ); * lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
@ -223,20 +224,20 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
* } * }
* @endverbatim * @endverbatim
*/ */
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const TickType_t xTimerPeriodInTicks, const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload, const UBaseType_t uxAutoReload,
void * const pvTimerID, void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION; TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
#endif #endif
/** /**
* TimerHandle_t xTimerCreateStatic(const char * const pcTimerName, * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
* TickType_t xTimerPeriodInTicks, * TickType_t xTimerPeriodInTicks,
* UBaseType_t uxAutoReload, * UBaseType_t uxAutoReload,
* void * pvTimerID, * void * pvTimerID,
* TimerCallbackFunction_t pxCallbackFunction, * TimerCallbackFunction_t pxCallbackFunction,
* StaticTimer_t *pxTimerBuffer ); * StaticTimer_t *pxTimerBuffer );
* *
* Creates a new software timer instance, and returns a handle by which the * Creates a new software timer instance, and returns a handle by which the
@ -353,14 +354,14 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
* } * }
* @endverbatim * @endverbatim
*/ */
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const TickType_t xTimerPeriodInTicks, const TickType_t xTimerPeriodInTicks,
const UBaseType_t uxAutoReload, const UBaseType_t uxAutoReload,
void * const pvTimerID, void * const pvTimerID,
TimerCallbackFunction_t pxCallbackFunction, TimerCallbackFunction_t pxCallbackFunction,
StaticTimer_t *pxTimerBuffer ) PRIVILEGED_FUNCTION; StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
#endif /* configSUPPORT_STATIC_ALLOCATION */ #endif /* configSUPPORT_STATIC_ALLOCATION */
/** /**
* void *pvTimerGetTimerID( TimerHandle_t xTimer ); * void *pvTimerGetTimerID( TimerHandle_t xTimer );
@ -382,7 +383,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
* *
* See the xTimerCreate() API function example usage scenario. * See the xTimerCreate() API function example usage scenario.
*/ */
void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
/** /**
* void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ); * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
@ -403,7 +404,8 @@ void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
* *
* See the xTimerCreate() API function example usage scenario. * See the xTimerCreate() API function example usage scenario.
*/ */
void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION; void vTimerSetTimerID( TimerHandle_t xTimer,
void * pvNewID ) PRIVILEGED_FUNCTION;
/** /**
* BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ); * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
@ -440,7 +442,7 @@ void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION
* } * }
* @endverbatim * @endverbatim
*/ */
BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
/** /**
* TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ); * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void );
@ -448,7 +450,7 @@ BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
* Simply returns the handle of the timer service/daemon task. It it not valid * Simply returns the handle of the timer service/daemon task. It it not valid
* to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started. * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started.
*/ */
TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION; TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
/** /**
* BaseType_t xTimerStart( TimerHandle_t xTimer, TickType_t xTicksToWait ); * BaseType_t xTimerStart( TimerHandle_t xTimer, TickType_t xTicksToWait );
@ -500,7 +502,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* See the xTimerCreate() API function example usage scenario. * See the xTimerCreate() API function example usage scenario.
* *
*/ */
#define xTimerStart( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) ) #define xTimerStart( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
/** /**
* BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait ); * BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait );
@ -542,10 +544,10 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* See the xTimerCreate() API function example usage scenario. * See the xTimerCreate() API function example usage scenario.
* *
*/ */
#define xTimerStop( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) ) #define xTimerStop( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
/** /**
* BaseType_t xTimerChangePeriod( TimerHandle_t xTimer, * BaseType_t xTimerChangePeriod( TimerHandle_t xTimer,
* TickType_t xNewPeriod, * TickType_t xNewPeriod,
* TickType_t xTicksToWait ); * TickType_t xTicksToWait );
* *
@ -622,7 +624,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
#define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) ) #define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
/** /**
* BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait ); * BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait );
@ -660,7 +662,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* *
* See the xTimerChangePeriod() API function example usage scenario. * See the xTimerChangePeriod() API function example usage scenario.
*/ */
#define xTimerDelete( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) ) #define xTimerDelete( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
/** /**
* BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait ); * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );
@ -784,10 +786,10 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
#define xTimerReset( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) ) #define xTimerReset( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
/** /**
* BaseType_t xTimerStartFromISR( TimerHandle_t xTimer, * BaseType_t xTimerStartFromISR( TimerHandle_t xTimer,
* BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
* *
* A version of xTimerStart() that can be called from an interrupt service * A version of xTimerStart() that can be called from an interrupt service
@ -870,10 +872,10 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U ) #define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
/** /**
* BaseType_t xTimerStopFromISR( TimerHandle_t xTimer, * BaseType_t xTimerStopFromISR( TimerHandle_t xTimer,
* BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
* *
* A version of xTimerStop() that can be called from an interrupt service * A version of xTimerStop() that can be called from an interrupt service
@ -933,7 +935,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U ) #define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
/** /**
* BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer, * BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer,
@ -1006,10 +1008,10 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U ) #define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
/** /**
* BaseType_t xTimerResetFromISR( TimerHandle_t xTimer, * BaseType_t xTimerResetFromISR( TimerHandle_t xTimer,
* BaseType_t *pxHigherPriorityTaskWoken ); * BaseType_t *pxHigherPriorityTaskWoken );
* *
* A version of xTimerReset() that can be called from an interrupt service * A version of xTimerReset() that can be called from an interrupt service
@ -1092,7 +1094,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U ) #define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
/** /**
@ -1183,41 +1185,47 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
* } * }
* @endverbatim * @endverbatim
*/ */
BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
void * pvParameter1,
uint32_t ulParameter2,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/** /**
* BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
* void *pvParameter1, * void *pvParameter1,
* uint32_t ulParameter2, * uint32_t ulParameter2,
* TickType_t xTicksToWait ); * TickType_t xTicksToWait );
* *
* *
* Used to defer the execution of a function to the RTOS daemon task (the timer * Used to defer the execution of a function to the RTOS daemon task (the timer
* service task, hence this function is implemented in timers.c and is prefixed * service task, hence this function is implemented in timers.c and is prefixed
* with 'Timer'). * with 'Timer').
* *
* @param xFunctionToPend The function to execute from the timer service/ * @param xFunctionToPend The function to execute from the timer service/
* daemon task. The function must conform to the PendedFunction_t * daemon task. The function must conform to the PendedFunction_t
* prototype. * prototype.
* *
* @param pvParameter1 The value of the callback function's first parameter. * @param pvParameter1 The value of the callback function's first parameter.
* The parameter has a void * type to allow it to be used to pass any type. * The parameter has a void * type to allow it to be used to pass any type.
* For example, unsigned longs can be cast to a void *, or the void * can be * For example, unsigned longs can be cast to a void *, or the void * can be
* used to point to a structure. * used to point to a structure.
* *
* @param ulParameter2 The value of the callback function's second parameter. * @param ulParameter2 The value of the callback function's second parameter.
* *
* @param xTicksToWait Calling this function will result in a message being * @param xTicksToWait Calling this function will result in a message being
* sent to the timer daemon task on a queue. xTicksToWait is the amount of * sent to the timer daemon task on a queue. xTicksToWait is the amount of
* time the calling task should remain in the Blocked state (so not using any * time the calling task should remain in the Blocked state (so not using any
* processing time) for space to become available on the timer queue if the * processing time) for space to become available on the timer queue if the
* queue is found to be full. * queue is found to be full.
* *
* @return pdPASS is returned if the message was successfully sent to the * @return pdPASS is returned if the message was successfully sent to the
* timer daemon task, otherwise pdFALSE is returned. * timer daemon task, otherwise pdFALSE is returned.
* *
*/ */
BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
void * pvParameter1,
uint32_t ulParameter2,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/** /**
* const char * const pcTimerGetName( TimerHandle_t xTimer ); * const char * const pcTimerGetName( TimerHandle_t xTimer );
@ -1228,7 +1236,7 @@ BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvPar
* *
* @return The name assigned to the timer specified by the xTimer parameter. * @return The name assigned to the timer specified by the xTimer parameter.
*/ */
const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
/** /**
* void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ); * void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload );
@ -1245,21 +1253,22 @@ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint
* uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and * uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
* enter the dormant state after it expires. * enter the dormant state after it expires.
*/ */
void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION; void vTimerSetReloadMode( TimerHandle_t xTimer,
const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
/** /**
* UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ); * UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer );
* *
* Queries a timer to determine if it is an auto-reload timer, in which case the timer * Queries a timer to determine if it is an auto-reload timer, in which case the timer
* automatically resets itself each time it expires, or a one-shot timer, in * automatically resets itself each time it expires, or a one-shot timer, in
* which case the timer will only expire once unless it is manually restarted. * which case the timer will only expire once unless it is manually restarted.
* *
* @param xTimer The handle of the timer being queried. * @param xTimer The handle of the timer being queried.
* *
* @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise * @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
* pdFALSE is returned. * pdFALSE is returned.
*/ */
UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
/** /**
* TickType_t xTimerGetPeriod( TimerHandle_t xTimer ); * TickType_t xTimerGetPeriod( TimerHandle_t xTimer );
@ -1270,39 +1279,41 @@ UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
* *
* @return The period of the timer in ticks. * @return The period of the timer in ticks.
*/ */
TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
/** /**
* TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ); * TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer );
* *
* Returns the time in ticks at which the timer will expire. If this is less * Returns the time in ticks at which the timer will expire. If this is less
* than the current tick count then the expiry time has overflowed from the * than the current tick count then the expiry time has overflowed from the
* current time. * current time.
* *
* @param xTimer The handle of the timer being queried. * @param xTimer The handle of the timer being queried.
* *
* @return If the timer is running then the time in ticks at which the timer * @return If the timer is running then the time in ticks at which the timer
* will next expire is returned. If the timer is not running then the return * will next expire is returned. If the timer is not running then the return
* value is undefined. * value is undefined.
*/ */
TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
/* /*
* Functions beyond this part are not part of the public API and are intended * Functions beyond this part are not part of the public API and are intended
* for use by the kernel only. * for use by the kernel only.
*/ */
BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION; BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; BaseType_t xTimerGenericCommand( TimerHandle_t xTimer,
const BaseType_t xCommandID,
const TickType_t xOptionalValue,
BaseType_t * const pxHigherPriorityTaskWoken,
const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
#if( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION; void vTimerSetTimerNumber( TimerHandle_t xTimer,
UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
#endif UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
#endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* TIMERS_H */ #endif /* TIMERS_H */

239
list.c
View file

@ -30,168 +30,169 @@
#include "list.h" #include "list.h"
/*----------------------------------------------------------- /*-----------------------------------------------------------
* PUBLIC LIST API documented in list.h * PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/ *----------------------------------------------------------*/
void vListInitialise( List_t * const pxList ) void vListInitialise( List_t * const pxList )
{ {
/* The list structure contains a list item which is used to mark the /* The list structure contains a list item which is used to mark the
end of the list. To initialise the list the list end is inserted * end of the list. To initialise the list the list end is inserted
as the only list entry. */ * as the only list entry. */
pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
/* The list end value is the highest possible value in the list to /* The list end value is the highest possible value in the list to
ensure it remains at the end of the list. */ * ensure it remains at the end of the list. */
pxList->xListEnd.xItemValue = portMAX_DELAY; pxList->xListEnd.xItemValue = portMAX_DELAY;
/* The list end next and previous pointers point to itself so we know /* The list end next and previous pointers point to itself so we know
when the list is empty. */ * when the list is empty. */
pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
pxList->uxNumberOfItems = ( UBaseType_t ) 0U; pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
/* Write known values into the list if /* Write known values into the list if
configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ); listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ); listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vListInitialiseItem( ListItem_t * const pxItem ) void vListInitialiseItem( ListItem_t * const pxItem )
{ {
/* Make sure the list item is not recorded as being on a list. */ /* Make sure the list item is not recorded as being on a list. */
pxItem->pxContainer = NULL; pxItem->pxContainer = NULL;
/* Write known values into the list item if /* Write known values into the list item if
configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) void vListInsertEnd( List_t * const pxList,
ListItem_t * const pxNewListItem )
{ {
ListItem_t * const pxIndex = pxList->pxIndex; ListItem_t * const pxIndex = pxList->pxIndex;
/* Only effective when configASSERT() is also defined, these tests may catch /* Only effective when configASSERT() is also defined, these tests may catch
the list data structures being overwritten in memory. They will not catch * the list data structures being overwritten in memory. They will not catch
data errors caused by incorrect configuration or use of FreeRTOS. */ * data errors caused by incorrect configuration or use of FreeRTOS. */
listTEST_LIST_INTEGRITY( pxList ); listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
/* Insert a new list item into pxList, but rather than sort the list, /* Insert a new list item into pxList, but rather than sort the list,
makes the new list item the last item to be removed by a call to * makes the new list item the last item to be removed by a call to
listGET_OWNER_OF_NEXT_ENTRY(). */ * listGET_OWNER_OF_NEXT_ENTRY(). */
pxNewListItem->pxNext = pxIndex; pxNewListItem->pxNext = pxIndex;
pxNewListItem->pxPrevious = pxIndex->pxPrevious; pxNewListItem->pxPrevious = pxIndex->pxPrevious;
/* Only used during decision coverage testing. */ /* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY(); mtCOVERAGE_TEST_DELAY();
pxIndex->pxPrevious->pxNext = pxNewListItem; pxIndex->pxPrevious->pxNext = pxNewListItem;
pxIndex->pxPrevious = pxNewListItem; pxIndex->pxPrevious = pxNewListItem;
/* Remember which list the item is in. */ /* Remember which list the item is in. */
pxNewListItem->pxContainer = pxList; pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems )++; ( pxList->uxNumberOfItems )++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) void vListInsert( List_t * const pxList,
ListItem_t * const pxNewListItem )
{ {
ListItem_t *pxIterator; ListItem_t * pxIterator;
const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
/* Only effective when configASSERT() is also defined, these tests may catch /* Only effective when configASSERT() is also defined, these tests may catch
the list data structures being overwritten in memory. They will not catch * the list data structures being overwritten in memory. They will not catch
data errors caused by incorrect configuration or use of FreeRTOS. */ * data errors caused by incorrect configuration or use of FreeRTOS. */
listTEST_LIST_INTEGRITY( pxList ); listTEST_LIST_INTEGRITY( pxList );
listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
/* Insert the new list item into the list, sorted in xItemValue order. /* Insert the new list item into the list, sorted in xItemValue order.
*
* If the list already contains a list item with the same item value then the
* new list item should be placed after it. This ensures that TCBs which are
* stored in ready lists (all of which have the same xItemValue value) get a
* share of the CPU. However, if the xItemValue is the same as the back marker
* the iteration loop below will not end. Therefore the value is checked
* first, and the algorithm slightly modified if necessary. */
if( xValueOfInsertion == portMAX_DELAY )
{
pxIterator = pxList->xListEnd.pxPrevious;
}
else
{
/* *** NOTE ***********************************************************
* If you find your application is crashing here then likely causes are
* listed below. In addition see https://www.freertos.org/FAQHelp.html for
* more tips, and ensure configASSERT() is defined!
* https://www.freertos.org/a00110.html#configASSERT
*
* 1) Stack overflow -
* see https://www.freertos.org/Stacks-and-stack-overflow-checking.html
* 2) Incorrect interrupt priority assignment, especially on Cortex-M
* parts where numerically high priority values denote low actual
* interrupt priorities, which can seem counter intuitive. See
* https://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
* of configMAX_SYSCALL_INTERRUPT_PRIORITY on
* https://www.freertos.org/a00110.html
* 3) Calling an API function from within a critical section or when
* the scheduler is suspended, or calling an API function that does
* not end in "FromISR" from an interrupt.
* 4) Using a queue or semaphore before it has been initialised or
* before the scheduler has been started (are interrupts firing
* before vTaskStartScheduler() has been called?).
**********************************************************************/
If the list already contains a list item with the same item value then the for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */
new list item should be placed after it. This ensures that TCBs which are {
stored in ready lists (all of which have the same xItemValue value) get a /* There is nothing to do here, just iterating to the wanted
share of the CPU. However, if the xItemValue is the same as the back marker * insertion position. */
the iteration loop below will not end. Therefore the value is checked }
first, and the algorithm slightly modified if necessary. */ }
if( xValueOfInsertion == portMAX_DELAY )
{
pxIterator = pxList->xListEnd.pxPrevious;
}
else
{
/* *** NOTE ***********************************************************
If you find your application is crashing here then likely causes are
listed below. In addition see https://www.freertos.org/FAQHelp.html for
more tips, and ensure configASSERT() is defined!
https://www.freertos.org/a00110.html#configASSERT
1) Stack overflow - pxNewListItem->pxNext = pxIterator->pxNext;
see https://www.freertos.org/Stacks-and-stack-overflow-checking.html pxNewListItem->pxNext->pxPrevious = pxNewListItem;
2) Incorrect interrupt priority assignment, especially on Cortex-M pxNewListItem->pxPrevious = pxIterator;
parts where numerically high priority values denote low actual pxIterator->pxNext = pxNewListItem;
interrupt priorities, which can seem counter intuitive. See
https://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
of configMAX_SYSCALL_INTERRUPT_PRIORITY on
https://www.freertos.org/a00110.html
3) Calling an API function from within a critical section or when
the scheduler is suspended, or calling an API function that does
not end in "FromISR" from an interrupt.
4) Using a queue or semaphore before it has been initialised or
before the scheduler has been started (are interrupts firing
before vTaskStartScheduler() has been called?).
**********************************************************************/
for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */ /* Remember which list the item is in. This allows fast removal of the
{ * item later. */
/* There is nothing to do here, just iterating to the wanted pxNewListItem->pxContainer = pxList;
insertion position. */
}
}
pxNewListItem->pxNext = pxIterator->pxNext; ( pxList->uxNumberOfItems )++;
pxNewListItem->pxNext->pxPrevious = pxNewListItem;
pxNewListItem->pxPrevious = pxIterator;
pxIterator->pxNext = pxNewListItem;
/* Remember which list the item is in. This allows fast removal of the
item later. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems )++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
{ {
/* The list item knows which list it is in. Obtain the list from the list /* The list item knows which list it is in. Obtain the list from the list
item. */ * item. */
List_t * const pxList = pxItemToRemove->pxContainer; List_t * const pxList = pxItemToRemove->pxContainer;
pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
/* Only used during decision coverage testing. */ /* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY(); mtCOVERAGE_TEST_DELAY();
/* Make sure the index is left pointing to a valid item. */ /* Make sure the index is left pointing to a valid item. */
if( pxList->pxIndex == pxItemToRemove ) if( pxList->pxIndex == pxItemToRemove )
{ {
pxList->pxIndex = pxItemToRemove->pxPrevious; pxList->pxIndex = pxItemToRemove->pxPrevious;
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
pxItemToRemove->pxContainer = NULL; pxItemToRemove->pxContainer = NULL;
( pxList->uxNumberOfItems )--; ( pxList->uxNumberOfItems )--;
return pxList->uxNumberOfItems; return pxList->uxNumberOfItems;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

1568
portable/ARMv8M/non_secure/port.c
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File diff suppressed because it is too large Load diff

714
portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c
View file

@ -38,415 +38,415 @@
* header files. */ * header files. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#if( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
#endif #endif
void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r3, [r2] \n" /* Read 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. */ " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" bics r4, r5 \n" /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ " 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 r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const2 \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst2 \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
" movs r5, #4 \n" /* r5 = 4. */ " movs r5, #4 \n"/* r5 = 4. */
" str r5, [r2] \n" /* Program RNR = 4. */ " str r5, [r2] \n"/* Program RNR = 4. */
" ldmia r3!, {r6,r7} \n" /* Read first set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write first set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */
" movs r5, #5 \n" /* r5 = 5. */ " movs r5, #5 \n"/* r5 = 5. */
" str r5, [r2] \n" /* Program RNR = 5. */ " str r5, [r2] \n"/* Program RNR = 5. */
" ldmia r3!, {r6,r7} \n" /* Read second set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write second set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */
" movs r5, #6 \n" /* r5 = 6. */ " movs r5, #6 \n"/* r5 = 6. */
" str r5, [r2] \n" /* Program RNR = 6. */ " str r5, [r2] \n"/* Program RNR = 6. */
" ldmia r3!, {r6,r7} \n" /* Read third set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write third set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */
" movs r5, #7 \n" /* r5 = 7. */ " movs r5, #7 \n"/* r5 = 7. */
" str r5, [r2] \n" /* Program RNR = 7. */ " str r5, [r2] \n"/* Program RNR = 7. */
" ldmia r3!, {r6,r7} \n" /* Read fourth set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write fourth set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" orrs r4, r5 \n" /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldm r0!, {r1-r4} \n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */
" ldr r5, xSecureContextConst2 \n" " ldr r5, xSecureContextConst2 \n"
" str r1, [r5] \n" /* Set xSecureContext to this task's value for the same. */ " 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 psplim, r2 \n"/* Set this task's PSPLIM value. */
" msr control, r3 \n" /* Set this task's CONTROL value. */ " msr control, r3 \n"/* Set this task's CONTROL value. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r4 \n" /* Finally, branch to EXC_RETURN. */ " bx r4 \n"/* Finally, branch to EXC_RETURN. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldm r0!, {r1-r3} \n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */
" ldr r4, xSecureContextConst2 \n" " ldr r4, xSecureContextConst2 \n"
" str r1, [r4] \n" /* Set xSecureContext to this task's value for the same. */ " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */
" msr psplim, r2 \n" /* Set this task's PSPLIM value. */ " msr psplim, r2 \n"/* Set this task's PSPLIM value. */
" movs r1, #2 \n" /* r1 = 2. */ " movs r1, #2 \n"/* r1 = 2. */
" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r3 \n" /* Finally, branch to EXC_RETURN. */ " bx r3 \n"/* Finally, branch to EXC_RETURN. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n"
"xSecureContextConst2: .word xSecureContext \n" "xSecureContextConst2: .word xSecureContext \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst2: .word 0xe000ed94 \n" "xMPUCTRLConst2: .word 0xe000ed94 \n"
"xMAIR0Const2: .word 0xe000edc0 \n" "xMAIR0Const2: .word 0xe000edc0 \n"
"xRNRConst2: .word 0xe000ed98 \n" "xRNRConst2: .word 0xe000ed98 \n"
"xRBARConst2: .word 0xe000ed9c \n" "xRBARConst2: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" tst r0, r1 \n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ " 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. */ " 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. */ " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" running_privileged: \n" " running_privileged: \n"
" movs r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
::: "r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* Read the CONTROL register. */ " mrs r0, control \n"/* Read the CONTROL register. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" bics r0, r1 \n" /* Clear the bit 0. */ " bics r0, r1 \n"/* Clear the bit 0. */
" msr control, r0 \n" /* Write back the new CONTROL value. */ " msr control, r0 \n"/* Write back the new CONTROL value. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
::: "r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vResetPrivilege( void ) /* __attribute__ (( naked )) */ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" orrs r0, r1 \n" /* r0 = r0 | r1. */ " orrs r0, r1 \n"/* r0 = r0 | r1. */
" msr control, r0 \n" /* CONTROL = r0. */ " msr control, r0 \n"/* CONTROL = r0. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
:::"r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r0, xVTORConst \n" /* Use the NVIC offset register to locate the stack. */ " 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"/* Read the VTOR register which gives the address of vector table. */
" ldr r0, [r0] \n" /* The first entry in vector table is stack pointer. */ " 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. */ " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */ " cpsie i \n"/* Globally enable interrupts. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" svc %0 \n" /* System call to start the first task. */ " svc %0 \n"/* System call to start the first task. */
" nop \n" " nop \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"xVTORConst: .word 0xe000ed08 \n" "xVTORConst: .word 0xe000ed08 \n"
:: "i" ( portSVC_START_SCHEDULER ) : "memory" ::"i" ( portSVC_START_SCHEDULER ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, PRIMASK \n" " mrs r0, PRIMASK \n"
" cpsid i \n" " cpsid i \n"
" bx lr \n" " bx lr \n"
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" msr PRIMASK, r0 \n" " msr PRIMASK, r0 \n"
" bx lr \n" " bx lr \n"
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" .extern SecureContext_SaveContext \n" " .extern SecureContext_SaveContext \n"
" .extern SecureContext_LoadContext \n" " .extern SecureContext_LoadContext \n"
" \n" " \n"
" mrs r1, psp \n" /* Read PSP in r1. */ " mrs r1, psp \n"/* Read PSP in r1. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " 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. */ " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */
" \n" " \n"
" cbz r0, save_ns_context \n" /* No secure context to save. */ " cbz r0, save_ns_context \n"/* No secure context to save. */
" push {r0-r2, r14} \n" " push {r0-r2, r14} \n"
" bl SecureContext_SaveContext \n" " bl SecureContext_SaveContext \n"
" pop {r0-r3} \n" /* LR is now in r3. */ " pop {r0-r3} \n"/* LR is now in r3. */
" mov lr, r3 \n" /* LR = 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. */ " 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. */ " 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 r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r2, [r3] \n" /* Read pxCurrentTCB. */ " ldr r2, [r3] \n"/* Read pxCurrentTCB. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r1, r1, #16 \n" /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mrs r3, control \n" /* r3 = CONTROL. */ " mrs r3, control \n"/* r3 = CONTROL. */
" mov r4, lr \n" /* r4 = LR/EXC_RETURN. */ " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */
" stmia r1!, {r0, r2-r4} \n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r1, r1, #12 \n" /* Make space for xSecureContext, PSPLIM and LR on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */
" stmia r1!, {r0, r2-r3} \n" /* Store xSecureContext, PSPLIM and LR on the stack. */ " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" b select_next_task \n" " b select_next_task \n"
" \n" " \n"
" save_ns_context: \n" " save_ns_context: \n"
" ldr r3, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r2, [r3] \n" /* Read pxCurrentTCB. */ " ldr r2, [r3] \n"/* Read pxCurrentTCB. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r1, r1, #48 \n" /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" adds r1, r1, #16 \n" /* r1 = r1 + 16. */ " adds r1, r1, #16 \n"/* r1 = r1 + 16. */
" stmia r1!, {r4-r7} \n" /* Store the low registers that are not saved automatically. */ " stmia r1!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */
" mov r4, r8 \n" /* r4 = r8. */ " mov r4, r8 \n"/* r4 = r8. */
" mov r5, r9 \n" /* r5 = r9. */ " mov r5, r9 \n"/* r5 = r9. */
" mov r6, r10 \n" /* r6 = r10. */ " mov r6, r10 \n"/* r6 = r10. */
" mov r7, r11 \n" /* r7 = r11. */ " mov r7, r11 \n"/* r7 = r11. */
" stmia r1!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mrs r3, control \n" /* r3 = CONTROL. */ " mrs r3, control \n"/* r3 = CONTROL. */
" mov r4, lr \n" /* r4 = LR/EXC_RETURN. */ " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */
" subs r1, r1, #48 \n" /* r1 = r1 - 48. */ " subs r1, r1, #48 \n"/* r1 = r1 - 48. */
" stmia r1!, {r0, r2-r4} \n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r1, r1, #44 \n" /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " 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. */ " 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 r4, r8 \n"/* r4 = r8. */
" mov r5, r9 \n" /* r5 = r9. */ " mov r5, r9 \n"/* r5 = r9. */
" mov r6, r10 \n" /* r6 = r10. */ " mov r6, r10 \n"/* r6 = r10. */
" mov r7, r11 \n" /* r7 = r11. */ " mov r7, r11 \n"/* r7 = r11. */
" stmia r1!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" select_next_task: \n" " select_next_task: \n"
" cpsid i \n" " cpsid i \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" cpsie i \n" " cpsie i \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r3, [r2] \n" /* Read 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. */ " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" bics r4, r5 \n" /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ " 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 r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
" movs r5, #4 \n" /* r5 = 4. */ " movs r5, #4 \n"/* r5 = 4. */
" str r5, [r2] \n" /* Program RNR = 4. */ " str r5, [r2] \n"/* Program RNR = 4. */
" ldmia r3!, {r6,r7} \n" /* Read first set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write first set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */
" movs r5, #5 \n" /* r5 = 5. */ " movs r5, #5 \n"/* r5 = 5. */
" str r5, [r2] \n" /* Program RNR = 5. */ " str r5, [r2] \n"/* Program RNR = 5. */
" ldmia r3!, {r6,r7} \n" /* Read second set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write second set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */
" movs r5, #6 \n" /* r5 = 6. */ " movs r5, #6 \n"/* r5 = 6. */
" str r5, [r2] \n" /* Program RNR = 6. */ " str r5, [r2] \n"/* Program RNR = 6. */
" ldmia r3!, {r6,r7} \n" /* Read third set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write third set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */
" movs r5, #7 \n" /* r5 = 7. */ " movs r5, #7 \n"/* r5 = 7. */
" str r5, [r2] \n" /* Program RNR = 7. */ " str r5, [r2] \n"/* Program RNR = 7. */
" ldmia r3!, {r6,r7} \n" /* Read fourth set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write fourth set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" orrs r4, r5 \n" /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r1!, {r0, r2-r4} \n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ " 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 psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" msr control, r3 \n" /* Restore the CONTROL register value for the task. */ " msr control, r3 \n"/* Restore the CONTROL register value for the task. */
" mov lr, r4 \n" /* LR = r4. */ " mov lr, r4 \n"/* LR = r4. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */
" str r0, [r2] \n" /* Restore the task's 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. */ " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */
" push {r1,r4} \n" " push {r1,r4} \n"
" bl SecureContext_LoadContext \n" /* Restore the secure context. */ " bl SecureContext_LoadContext \n"/* Restore the secure context. */
" pop {r1,r4} \n" " pop {r1,r4} \n"
" mov lr, r4 \n" /* LR = r4. */ " 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. */ " 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. */ " 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. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldmia r1!, {r0, r2-r3} \n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ " 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. */ " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" mov lr, r3 \n" /* LR = r3. */ " mov lr, r3 \n"/* LR = r3. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */
" str r0, [r2] \n" /* Restore the task's 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. */ " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */
" push {r1,r3} \n" " push {r1,r3} \n"
" bl SecureContext_LoadContext \n" /* Restore the secure context. */ " bl SecureContext_LoadContext \n"/* Restore the secure context. */
" pop {r1,r3} \n" " pop {r1,r3} \n"
" mov lr, r3 \n" /* LR = 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. */ " 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. */ " 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. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" restore_ns_context: \n" " restore_ns_context: \n"
" adds r1, r1, #16 \n" /* Move to the high registers. */ " adds r1, r1, #16 \n"/* Move to the high registers. */
" ldmia r1!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */ " ldmia r1!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */
" mov r8, r4 \n" /* r8 = r4. */ " mov r8, r4 \n"/* r8 = r4. */
" mov r9, r5 \n" /* r9 = r5. */ " mov r9, r5 \n"/* r9 = r5. */
" mov r10, r6 \n" /* r10 = r6. */ " mov r10, r6 \n"/* r10 = r6. */
" mov r11, r7 \n" /* r11 = r7. */ " mov r11, r7 \n"/* r11 = r7. */
" msr psp, r1 \n" /* Remember the new top of stack for the task. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" subs r1, r1, #32 \n" /* Go back to the low registers. */ " 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. */ " ldmia r1!, {r4-r7} \n"/* Restore the low registers that are not automatically restored. */
" bx lr \n" " bx lr \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB \n" "pxCurrentTCBConst: .word pxCurrentTCB \n"
"xSecureContextConst: .word xSecureContext \n" "xSecureContextConst: .word xSecureContext \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst: .word 0xe000ed94 \n" "xMPUCTRLConst: .word 0xe000ed94 \n"
"xMAIR0Const: .word 0xe000edc0 \n" "xMAIR0Const: .word 0xe000edc0 \n"
"xRNRConst: .word 0xe000ed98 \n" "xRNRConst: .word 0xe000ed98 \n"
"xRBARConst: .word 0xe000ed9c \n" "xRBARConst: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" movs r0, #4 \n" " movs r0, #4 \n"
" mov r1, lr \n" " mov r1, lr \n"
" tst r0, r1 \n" " tst r0, r1 \n"
" beq stacking_used_msp \n" " beq stacking_used_msp \n"
" mrs r0, psp \n" " mrs r0, psp \n"
" ldr r2, svchandler_address_const \n" " ldr r2, svchandler_address_const \n"
" bx r2 \n" " bx r2 \n"
" stacking_used_msp: \n" " stacking_used_msp: \n"
" mrs r0, msp \n" " mrs r0, msp \n"
" ldr r2, svchandler_address_const \n" " ldr r2, svchandler_address_const \n"
" bx r2 \n" " bx r2 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"svchandler_address_const: .word vPortSVCHandler_C \n" "svchandler_address_const: .word vPortSVCHandler_C \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" svc %0 \n" /* Secure context is allocated in the supervisor call. */ " svc %0 \n"/* Secure context is allocated in the supervisor call. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r1, [r0] \n" /* The first item in the TCB is the top of the stack. */ " 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. */ " 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. */ " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */
" beq free_secure_context \n" " beq free_secure_context \n"
" bx lr \n" /* There is no secure context (xSecureContext is NULL). */ " bx lr \n"/* There is no secure context (xSecureContext is NULL). */
" free_secure_context: \n" " free_secure_context: \n"
" svc %0 \n" /* Secure context is freed in the supervisor call. */ " svc %0 \n"/* Secure context is freed in the supervisor call. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

340
portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M23" #define portARCH_NAME "Cortex-M23"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __attribute__(( used )) #define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,155 +155,157 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

558
portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portasm.c
View file

@ -38,328 +38,328 @@
* header files. */ * header files. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#if( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
#endif #endif
void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r1, [r2] \n" /* Read 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. */ " ldr r0, [r1] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r4, #1 \n" /* r4 = 1. */ " movs r4, #1 \n"/* r4 = 1. */
" bics r3, r4 \n" /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ " bics r3, r4 \n"/* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */
" str r3, [r2] \n" /* Disable MPU. */ " str r3, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ " 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 r4, [r1] \n"/* r4 = *r1 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const2 \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst2 \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
" movs r4, #4 \n" /* r4 = 4. */ " movs r4, #4 \n"/* r4 = 4. */
" str r4, [r2] \n" /* Program RNR = 4. */ " str r4, [r2] \n"/* Program RNR = 4. */
" ldmia r1!, {r5,r6} \n" /* Read first set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read first set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write first set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write first set of RBAR/RLAR registers. */
" movs r4, #5 \n" /* r4 = 5. */ " movs r4, #5 \n"/* r4 = 5. */
" str r4, [r2] \n" /* Program RNR = 5. */ " str r4, [r2] \n"/* Program RNR = 5. */
" ldmia r1!, {r5,r6} \n" /* Read second set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read second set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write second set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write second set of RBAR/RLAR registers. */
" movs r4, #6 \n" /* r4 = 6. */ " movs r4, #6 \n"/* r4 = 6. */
" str r4, [r2] \n" /* Program RNR = 6. */ " str r4, [r2] \n"/* Program RNR = 6. */
" ldmia r1!, {r5,r6} \n" /* Read third set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read third set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write third set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write third set of RBAR/RLAR registers. */
" movs r4, #7 \n" /* r4 = 7. */ " movs r4, #7 \n"/* r4 = 7. */
" str r4, [r2] \n" /* Program RNR = 7. */ " str r4, [r2] \n"/* Program RNR = 7. */
" ldmia r1!, {r5,r6} \n" /* Read fourth set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read fourth set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst2 \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst2 \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write fourth set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write fourth set of RBAR/RLAR registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r4, #1 \n" /* r4 = 1. */ " movs r4, #1 \n"/* r4 = 1. */
" orrs r3, r4 \n" /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ " orrs r3, r4 \n"/* r3 = r3 | r4 i.e. Set the bit 0 in r3. */
" str r3, [r2] \n" /* Enable MPU. */ " str r3, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldm r0!, {r1-r3} \n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ " 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 psplim, r1 \n"/* Set this task's PSPLIM value. */
" msr control, r2 \n" /* Set this task's CONTROL value. */ " msr control, r2 \n"/* Set this task's CONTROL value. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r3 \n" /* Finally, branch to EXC_RETURN. */ " bx r3 \n"/* Finally, branch to EXC_RETURN. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldm r0!, {r1-r2} \n" /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ " ldm r0!, {r1-r2} \n"/* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */
" msr psplim, r1 \n" /* Set this task's PSPLIM value. */ " msr psplim, r1 \n"/* Set this task's PSPLIM value. */
" movs r1, #2 \n" /* r1 = 2. */ " movs r1, #2 \n"/* r1 = 2. */
" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r2 \n" /* Finally, branch to EXC_RETURN. */ " bx r2 \n"/* Finally, branch to EXC_RETURN. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst2: .word 0xe000ed94 \n" "xMPUCTRLConst2: .word 0xe000ed94 \n"
"xMAIR0Const2: .word 0xe000edc0 \n" "xMAIR0Const2: .word 0xe000edc0 \n"
"xRNRConst2: .word 0xe000ed98 \n" "xRNRConst2: .word 0xe000ed98 \n"
"xRBARConst2: .word 0xe000ed9c \n" "xRBARConst2: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" tst r0, r1 \n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ " 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. */ " 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. */ " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" running_privileged: \n" " running_privileged: \n"
" movs r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
::: "r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* Read the CONTROL register. */ " mrs r0, control \n"/* Read the CONTROL register. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" bics r0, r1 \n" /* Clear the bit 0. */ " bics r0, r1 \n"/* Clear the bit 0. */
" msr control, r0 \n" /* Write back the new CONTROL value. */ " msr control, r0 \n"/* Write back the new CONTROL value. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
::: "r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vResetPrivilege( void ) /* __attribute__ (( naked )) */ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" orrs r0, r1 \n" /* r0 = r0 | r1. */ " orrs r0, r1 \n"/* r0 = r0 | r1. */
" msr control, r0 \n" /* CONTROL = r0. */ " msr control, r0 \n"/* CONTROL = r0. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
:::"r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r0, xVTORConst \n" /* Use the NVIC offset register to locate the stack. */ " 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"/* Read the VTOR register which gives the address of vector table. */
" ldr r0, [r0] \n" /* The first entry in vector table is stack pointer. */ " 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. */ " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */ " cpsie i \n"/* Globally enable interrupts. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" svc %0 \n" /* System call to start the first task. */ " svc %0 \n"/* System call to start the first task. */
" nop \n" " nop \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"xVTORConst: .word 0xe000ed08 \n" "xVTORConst: .word 0xe000ed08 \n"
:: "i" ( portSVC_START_SCHEDULER ) : "memory" ::"i" ( portSVC_START_SCHEDULER ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, PRIMASK \n" " mrs r0, PRIMASK \n"
" cpsid i \n" " cpsid i \n"
" bx lr \n" " bx lr \n"
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" msr PRIMASK, r0 \n" " msr PRIMASK, r0 \n"
" bx lr \n" " bx lr \n"
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r0, psp \n" /* Read PSP in r0. */ " mrs r0, psp \n"/* Read PSP in r0. */
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r1, [r2] \n" /* Read pxCurrentTCB. */ " ldr r1, [r2] \n"/* Read pxCurrentTCB. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r0, r0, #44 \n" /* Make space for PSPLIM, CONTROL, LR and the remaining registers on the stack. */ " 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. */ " str r0, [r1] \n"/* Save the new top of stack in TCB. */
" mrs r1, psplim \n" /* r1 = PSPLIM. */ " mrs r1, psplim \n"/* r1 = PSPLIM. */
" mrs r2, control \n" /* r2 = CONTROL. */ " mrs r2, control \n"/* r2 = CONTROL. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " 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. */ " 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 r4, r8 \n"/* r4 = r8. */
" mov r5, r9 \n" /* r5 = r9. */ " mov r5, r9 \n"/* r5 = r9. */
" mov r6, r10 \n" /* r6 = r10. */ " mov r6, r10 \n"/* r6 = r10. */
" mov r7, r11 \n" /* r7 = r11. */ " mov r7, r11 \n"/* r7 = r11. */
" stmia r0!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ " stmia r0!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r0, r0, #40 \n" /* Make space for PSPLIM, LR and the remaining registers on the stack. */ " 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. */ " str r0, [r1] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " 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. */ " 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 r4, r8 \n"/* r4 = r8. */
" mov r5, r9 \n" /* r5 = r9. */ " mov r5, r9 \n"/* r5 = r9. */
" mov r6, r10 \n" /* r6 = r10. */ " mov r6, r10 \n"/* r6 = r10. */
" mov r7, r11 \n" /* r7 = r11. */ " mov r7, r11 \n"/* r7 = r11. */
" stmia r0!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ " stmia r0!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" cpsid i \n" " cpsid i \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" cpsie i \n" " cpsie i \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r1, [r2] \n" /* Read 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. */ " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r4, #1 \n" /* r4 = 1. */ " movs r4, #1 \n"/* r4 = 1. */
" bics r3, r4 \n" /* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */ " bics r3, r4 \n"/* r3 = r3 & ~r4 i.e. Clear the bit 0 in r3. */
" str r3, [r2] \n" /* Disable MPU. */ " str r3, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ " 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 r4, [r1] \n"/* r4 = *r1 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
" movs r4, #4 \n" /* r4 = 4. */ " movs r4, #4 \n"/* r4 = 4. */
" str r4, [r2] \n" /* Program RNR = 4. */ " str r4, [r2] \n"/* Program RNR = 4. */
" ldmia r1!, {r5,r6} \n" /* Read first set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read first set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write first set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write first set of RBAR/RLAR registers. */
" movs r4, #5 \n" /* r4 = 5. */ " movs r4, #5 \n"/* r4 = 5. */
" str r4, [r2] \n" /* Program RNR = 5. */ " str r4, [r2] \n"/* Program RNR = 5. */
" ldmia r1!, {r5,r6} \n" /* Read second set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read second set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write second set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write second set of RBAR/RLAR registers. */
" movs r4, #6 \n" /* r4 = 6. */ " movs r4, #6 \n"/* r4 = 6. */
" str r4, [r2] \n" /* Program RNR = 6. */ " str r4, [r2] \n"/* Program RNR = 6. */
" ldmia r1!, {r5,r6} \n" /* Read third set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read third set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write third set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write third set of RBAR/RLAR registers. */
" movs r4, #7 \n" /* r4 = 7. */ " movs r4, #7 \n"/* r4 = 7. */
" str r4, [r2] \n" /* Program RNR = 7. */ " str r4, [r2] \n"/* Program RNR = 7. */
" ldmia r1!, {r5,r6} \n" /* Read fourth set of RBAR/RLAR from TCB. */ " ldmia r1!, {r5,r6} \n"/* Read fourth set of RBAR/RLAR from TCB. */
" ldr r3, xRBARConst \n" /* r3 = 0xe000ed9c [Location of RBAR]. */ " ldr r3, xRBARConst \n"/* r3 = 0xe000ed9c [Location of RBAR]. */
" stmia r3!, {r5,r6} \n" /* Write fourth set of RBAR/RLAR registers. */ " stmia r3!, {r5,r6} \n"/* Write fourth set of RBAR/RLAR registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r3, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r3, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r4, #1 \n" /* r4 = 1. */ " movs r4, #1 \n"/* r4 = 1. */
" orrs r3, r4 \n" /* r3 = r3 | r4 i.e. Set the bit 0 in r3. */ " orrs r3, r4 \n"/* r3 = r3 | r4 i.e. Set the bit 0 in r3. */
" str r3, [r2] \n" /* Enable MPU. */ " str r3, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" adds r0, r0, #28 \n" /* Move to the high registers. */ " adds r0, r0, #28 \n"/* Move to the high registers. */
" ldmia r0!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */ " ldmia r0!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */
" mov r8, r4 \n" /* r8 = r4. */ " mov r8, r4 \n"/* r8 = r4. */
" mov r9, r5 \n" /* r9 = r5. */ " mov r9, r5 \n"/* r9 = r5. */
" mov r10, r6 \n" /* r10 = r6. */ " mov r10, r6 \n"/* r10 = r6. */
" mov r11, r7 \n" /* r11 = r7. */ " mov r11, r7 \n"/* r11 = r7. */
" msr psp, r0 \n" /* Remember the new top of stack for the task. */ " 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. */ " 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. */ " 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 psplim, r1 \n"/* Restore the PSPLIM register value for the task. */
" msr control, r2 \n" /* Restore the CONTROL register value for the task. */ " msr control, r2 \n"/* Restore the CONTROL register value for the task. */
" bx r3 \n" " bx r3 \n"
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" adds r0, r0, #24 \n" /* Move to the high registers. */ " adds r0, r0, #24 \n"/* Move to the high registers. */
" ldmia r0!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */ " ldmia r0!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */
" mov r8, r4 \n" /* r8 = r4. */ " mov r8, r4 \n"/* r8 = r4. */
" mov r9, r5 \n" /* r9 = r5. */ " mov r9, r5 \n"/* r9 = r5. */
" mov r10, r6 \n" /* r10 = r6. */ " mov r10, r6 \n"/* r10 = r6. */
" mov r11, r7 \n" /* r11 = r7. */ " mov r11, r7 \n"/* r11 = r7. */
" msr psp, r0 \n" /* Remember the new top of stack for the task. */ " 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. */ " 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. */ " 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. */ " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" bx r3 \n" " bx r3 \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB \n" "pxCurrentTCBConst: .word pxCurrentTCB \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst: .word 0xe000ed94 \n" "xMPUCTRLConst: .word 0xe000ed94 \n"
"xMAIR0Const: .word 0xe000edc0 \n" "xMAIR0Const: .word 0xe000edc0 \n"
"xRNRConst: .word 0xe000ed98 \n" "xRNRConst: .word 0xe000ed98 \n"
"xRBARConst: .word 0xe000ed9c \n" "xRBARConst: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" movs r0, #4 \n" " movs r0, #4 \n"
" mov r1, lr \n" " mov r1, lr \n"
" tst r0, r1 \n" " tst r0, r1 \n"
" beq stacking_used_msp \n" " beq stacking_used_msp \n"
" mrs r0, psp \n" " mrs r0, psp \n"
" ldr r2, svchandler_address_const \n" " ldr r2, svchandler_address_const \n"
" bx r2 \n" " bx r2 \n"
" stacking_used_msp: \n" " stacking_used_msp: \n"
" mrs r0, msp \n" " mrs r0, msp \n"
" ldr r2, svchandler_address_const \n" " ldr r2, svchandler_address_const \n"
" bx r2 \n" " bx r2 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"svchandler_address_const: .word vPortSVCHandler_C \n" "svchandler_address_const: .word vPortSVCHandler_C \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

340
portable/ARMv8M/non_secure/portable/GCC/ARM_CM23_NTZ/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M23" #define portARCH_NAME "Cortex-M23"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __attribute__(( used )) #define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,155 +155,157 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

632
portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c
View file

@ -40,370 +40,370 @@
void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r3, [r2] \n" /* Read 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. */ " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ " 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 r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const2 \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst2 \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" movs r4, #4 \n" /* r4 = 4. */ " movs r4, #4 \n"/* r4 = 4. */
" str r4, [r2] \n" /* Program RNR = 4. */ " str r4, [r2] \n"/* Program RNR = 4. */
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
" ldr r2, xRBARConst2 \n" /* r2 = 0xe000ed9c [Location of RBAR]. */ " ldr r2, xRBARConst2 \n"/* r2 = 0xe000ed9c [Location of RBAR]. */
" ldmia r3!, {r4-r11} \n" /* Read 4 set of RBAR/RLAR registers from TCB. */ " 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. */ " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldm r0!, {r1-r4} \n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */
" ldr r5, xSecureContextConst2 \n" " ldr r5, xSecureContextConst2 \n"
" str r1, [r5] \n" /* Set xSecureContext to this task's value for the same. */ " 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 psplim, r2 \n"/* Set this task's PSPLIM value. */
" msr control, r3 \n" /* Set this task's CONTROL value. */ " msr control, r3 \n"/* Set this task's CONTROL value. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r4 \n" /* Finally, branch to EXC_RETURN. */ " bx r4 \n"/* Finally, branch to EXC_RETURN. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldm r0!, {r1-r3} \n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */
" ldr r4, xSecureContextConst2 \n" " ldr r4, xSecureContextConst2 \n"
" str r1, [r4] \n" /* Set xSecureContext to this task's value for the same. */ " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */
" msr psplim, r2 \n" /* Set this task's PSPLIM value. */ " msr psplim, r2 \n"/* Set this task's PSPLIM value. */
" movs r1, #2 \n" /* r1 = 2. */ " movs r1, #2 \n"/* r1 = 2. */
" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r3 \n" /* Finally, branch to EXC_RETURN. */ " bx r3 \n"/* Finally, branch to EXC_RETURN. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n"
"xSecureContextConst2: .word xSecureContext \n" "xSecureContextConst2: .word xSecureContext \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst2: .word 0xe000ed94 \n" "xMPUCTRLConst2: .word 0xe000ed94 \n"
"xMAIR0Const2: .word 0xe000edc0 \n" "xMAIR0Const2: .word 0xe000edc0 \n"
"xRNRConst2: .word 0xe000ed98 \n" "xRNRConst2: .word 0xe000ed98 \n"
"xRBARConst2: .word 0xe000ed9c \n" "xRBARConst2: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" tst r0, #1 \n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
" ite ne \n" " ite ne \n"
" movne r0, #0 \n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ " 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. */ " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
::: "r0", "memory" ::: "r0", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* Read the CONTROL register. */ " mrs r0, control \n"/* Read the CONTROL register. */
" bic r0, #1 \n" /* Clear the bit 0. */ " bic r0, #1 \n"/* Clear the bit 0. */
" msr control, r0 \n" /* Write back the new CONTROL value. */ " msr control, r0 \n"/* Write back the new CONTROL value. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
::: "r0", "memory" ::: "r0", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vResetPrivilege( void ) /* __attribute__ (( naked )) */ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" orr r0, #1 \n" /* r0 = r0 | 1. */ " orr r0, #1 \n"/* r0 = r0 | 1. */
" msr control, r0 \n" /* CONTROL = r0. */ " msr control, r0 \n"/* CONTROL = r0. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
:::"r0", "memory" ::: "r0", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r0, xVTORConst \n" /* Use the NVIC offset register to locate the stack. */ " 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"/* Read the VTOR register which gives the address of vector table. */
" ldr r0, [r0] \n" /* The first entry in vector table is stack pointer. */ " 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. */ " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */ " cpsie i \n"/* Globally enable interrupts. */
" cpsie f \n" " cpsie f \n"
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" svc %0 \n" /* System call to start the first task. */ " svc %0 \n"/* System call to start the first task. */
" nop \n" " nop \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"xVTORConst: .word 0xe000ed08 \n" "xVTORConst: .word 0xe000ed08 \n"
:: "i" ( portSVC_START_SCHEDULER ) : "memory" ::"i" ( portSVC_START_SCHEDULER ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, basepri \n" /* r0 = basepri. Return original basepri value. */ " mrs r0, basepri \n"/* r0 = basepri. Return original basepri value. */
" mov r1, %0 \n" /* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */ " mov r1, %0 \n"/* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */
" msr basepri, r1 \n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ " msr basepri, r1 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" msr basepri, r0 \n" /* basepri = ulMask. */ " msr basepri, r0 \n"/* basepri = ulMask. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" .extern SecureContext_SaveContext \n" " .extern SecureContext_SaveContext \n"
" .extern SecureContext_LoadContext \n" " .extern SecureContext_LoadContext \n"
" \n" " \n"
" mrs r1, psp \n" /* Read PSP in r1. */ " mrs r1, psp \n"/* Read PSP in r1. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " 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. */ " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */
" \n" " \n"
" cbz r0, save_ns_context \n" /* No secure context to save. */ " cbz r0, save_ns_context \n"/* No secure context to save. */
" push {r0-r2, r14} \n" " push {r0-r2, r14} \n"
" bl SecureContext_SaveContext \n" " bl SecureContext_SaveContext \n"
" pop {r0-r3} \n" /* LR is now in r3. */ " pop {r0-r3} \n"/* LR is now in r3. */
" mov lr, r3 \n" /* LR = 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. */ " 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. */ " 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 r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r2, [r3] \n" /* Read pxCurrentTCB. */ " ldr r2, [r3] \n"/* Read pxCurrentTCB. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r1, r1, #16 \n" /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mrs r3, control \n" /* r3 = CONTROL. */ " mrs r3, control \n"/* r3 = CONTROL. */
" mov r4, lr \n" /* r4 = LR/EXC_RETURN. */ " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */
" stmia r1!, {r0, r2-r4} \n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r1, r1, #12 \n" /* Make space for xSecureContext, PSPLIM and LR on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */
" stmia r1!, {r0, r2-r3} \n" /* Store xSecureContext, PSPLIM and LR on the stack. */ " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" b select_next_task \n" " b select_next_task \n"
" \n" " \n"
" save_ns_context: \n" " save_ns_context: \n"
" ldr r3, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r2, [r3] \n" /* Read pxCurrentTCB. */ " ldr r2, [r3] \n"/* Read pxCurrentTCB. */
#if( configENABLE_FPU == 1 ) #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. */ " 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" " it eq \n"
" vstmdbeq r1!, {s16-s31} \n" /* Store the FPU registers which are not saved automatically. */ " vstmdbeq r1!, {s16-s31} \n"/* Store the FPU registers which are not saved automatically. */
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r1, r1, #48 \n" /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" adds r1, r1, #16 \n" /* r1 = r1 + 16. */ " adds r1, r1, #16 \n"/* r1 = r1 + 16. */
" stm r1, {r4-r11} \n" /* Store the registers that are not saved automatically. */ " stm r1, {r4-r11} \n"/* Store the registers that are not saved automatically. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mrs r3, control \n" /* r3 = CONTROL. */ " mrs r3, control \n"/* r3 = CONTROL. */
" mov r4, lr \n" /* r4 = LR/EXC_RETURN. */ " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */
" subs r1, r1, #16 \n" /* r1 = r1 - 16. */ " subs r1, r1, #16 \n"/* r1 = r1 - 16. */
" stm r1, {r0, r2-r4} \n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " stm r1, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r1, r1, #44 \n" /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" adds r1, r1, #12 \n" /* r1 = r1 + 12. */ " adds r1, r1, #12 \n"/* r1 = r1 + 12. */
" stm r1, {r4-r11} \n" /* Store the registers that are not saved automatically. */ " stm r1, {r4-r11} \n"/* Store the registers that are not saved automatically. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */
" subs r1, r1, #12 \n" /* r1 = r1 - 12. */ " subs r1, r1, #12 \n"/* r1 = r1 - 12. */
" stmia r1!, {r0, r2-r3} \n" /* Store xSecureContext, PSPLIM and LR on the stack. */ " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" select_next_task: \n" " select_next_task: \n"
" mov r0, %0 \n" /* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */ " mov r0, %0 \n"/* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */
" msr basepri, r0 \n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ " msr basepri, r0 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" mov r0, #0 \n" /* r0 = 0. */ " mov r0, #0 \n"/* r0 = 0. */
" msr basepri, r0 \n" /* Enable interrupts. */ " msr basepri, r0 \n"/* Enable interrupts. */
" \n" " \n"
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r3, [r2] \n" /* Read 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. */ " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ " 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 r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" movs r4, #4 \n" /* r4 = 4. */ " movs r4, #4 \n"/* r4 = 4. */
" str r4, [r2] \n" /* Program RNR = 4. */ " str r4, [r2] \n"/* Program RNR = 4. */
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
" ldr r2, xRBARConst \n" /* r2 = 0xe000ed9c [Location of RBAR]. */ " ldr r2, xRBARConst \n"/* r2 = 0xe000ed9c [Location of RBAR]. */
" ldmia r3!, {r4-r11} \n" /* Read 4 sets of RBAR/RLAR registers from TCB. */ " 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. */ " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r1!, {r0, r2-r4} \n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ " 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 psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" msr control, r3 \n" /* Restore the CONTROL register value for the task. */ " msr control, r3 \n"/* Restore the CONTROL register value for the task. */
" mov lr, r4 \n" /* LR = r4. */ " mov lr, r4 \n"/* LR = r4. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */
" str r0, [r2] \n" /* Restore the task's 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. */ " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */
" push {r1,r4} \n" " push {r1,r4} \n"
" bl SecureContext_LoadContext \n" /* Restore the secure context. */ " bl SecureContext_LoadContext \n"/* Restore the secure context. */
" pop {r1,r4} \n" " pop {r1,r4} \n"
" mov lr, r4 \n" /* LR = r4. */ " 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. */ " 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. */ " 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. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldmia r1!, {r0, r2-r3} \n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ " 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. */ " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" mov lr, r3 \n" /* LR = r3. */ " mov lr, r3 \n"/* LR = r3. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */
" str r0, [r2] \n" /* Restore the task's 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. */ " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */
" push {r1,r3} \n" " push {r1,r3} \n"
" bl SecureContext_LoadContext \n" /* Restore the secure context. */ " bl SecureContext_LoadContext \n"/* Restore the secure context. */
" pop {r1,r3} \n" " pop {r1,r3} \n"
" mov lr, r3 \n" /* LR = 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. */ " 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. */ " 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. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" restore_ns_context: \n" " restore_ns_context: \n"
" ldmia r1!, {r4-r11} \n" /* Restore the registers that are not automatically restored. */ " ldmia r1!, {r4-r11} \n"/* Restore the registers that are not automatically restored. */
#if( configENABLE_FPU == 1 ) #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. */ " 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" " it eq \n"
" vldmiaeq r1!, {s16-s31} \n" /* Restore the FPU registers which are not restored automatically. */ " vldmiaeq r1!, {s16-s31} \n"/* Restore the FPU registers which are not restored automatically. */
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
" msr psp, r1 \n" /* Remember the new top of stack for the task. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB \n" "pxCurrentTCBConst: .word pxCurrentTCB \n"
"xSecureContextConst: .word xSecureContext \n" "xSecureContextConst: .word xSecureContext \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst: .word 0xe000ed94 \n" "xMPUCTRLConst: .word 0xe000ed94 \n"
"xMAIR0Const: .word 0xe000edc0 \n" "xMAIR0Const: .word 0xe000edc0 \n"
"xRNRConst: .word 0xe000ed98 \n" "xRNRConst: .word 0xe000ed98 \n"
"xRBARConst: .word 0xe000ed9c \n" "xRBARConst: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
:: "i"( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY )
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" tst lr, #4 \n" " tst lr, #4 \n"
" ite eq \n" " ite eq \n"
" mrseq r0, msp \n" " mrseq r0, msp \n"
" mrsne r0, psp \n" " mrsne r0, psp \n"
" ldr r1, svchandler_address_const \n" " ldr r1, svchandler_address_const \n"
" bx r1 \n" " bx r1 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"svchandler_address_const: .word vPortSVCHandler_C \n" "svchandler_address_const: .word vPortSVCHandler_C \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" svc %0 \n" /* Secure context is allocated in the supervisor call. */ " svc %0 \n"/* Secure context is allocated in the supervisor call. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r1, [r0] \n" /* The first item in the TCB is the top of the stack. */ " 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. */ " 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. */ " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */
" it ne \n" " it ne \n"
" svcne %0 \n" /* Secure context is freed in the supervisor call. */ " svcne %0 \n"/* Secure context is freed in the supervisor call. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

340
portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M33" #define portARCH_NAME "Cortex-M33"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __attribute__(( used )) #define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,155 +155,157 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() ulSetInterruptMask() #define portDISABLE_INTERRUPTS() ulSetInterruptMask()
#define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

462
portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portasm.c
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@ -40,276 +40,276 @@
void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r1, [r2] \n" /* Read 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. */ " ldr r0, [r1] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ " 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 r3, [r1] \n"/* r3 = *r1 i.e. r3 = MAIR0. */
" ldr r2, xMAIR0Const2 \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r3, [r2] \n" /* Program MAIR0. */ " str r3, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst2 \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" movs r3, #4 \n" /* r3 = 4. */ " movs r3, #4 \n"/* r3 = 4. */
" str r3, [r2] \n" /* Program RNR = 4. */ " str r3, [r2] \n"/* Program RNR = 4. */
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
" ldr r2, xRBARConst2 \n" /* r2 = 0xe000ed9c [Location of RBAR]. */ " ldr r2, xRBARConst2 \n"/* r2 = 0xe000ed9c [Location of RBAR]. */
" ldmia r1!, {r4-r11} \n" /* Read 4 set of RBAR/RLAR registers from TCB. */ " 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. */ " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldm r0!, {r1-r3} \n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL and r3 = EXC_RETURN. */ " 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 psplim, r1 \n"/* Set this task's PSPLIM value. */
" msr control, r2 \n" /* Set this task's CONTROL value. */ " msr control, r2 \n"/* Set this task's CONTROL value. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r3 \n" /* Finally, branch to EXC_RETURN. */ " bx r3 \n"/* Finally, branch to EXC_RETURN. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldm r0!, {r1-r2} \n" /* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */ " ldm r0!, {r1-r2} \n"/* Read from stack - r1 = PSPLIM and r2 = EXC_RETURN. */
" msr psplim, r1 \n" /* Set this task's PSPLIM value. */ " msr psplim, r1 \n"/* Set this task's PSPLIM value. */
" movs r1, #2 \n" /* r1 = 2. */ " movs r1, #2 \n"/* r1 = 2. */
" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r2 \n" /* Finally, branch to EXC_RETURN. */ " bx r2 \n"/* Finally, branch to EXC_RETURN. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst2: .word 0xe000ed94 \n" "xMPUCTRLConst2: .word 0xe000ed94 \n"
"xMAIR0Const2: .word 0xe000edc0 \n" "xMAIR0Const2: .word 0xe000edc0 \n"
"xRNRConst2: .word 0xe000ed98 \n" "xRNRConst2: .word 0xe000ed98 \n"
"xRBARConst2: .word 0xe000ed9c \n" "xRBARConst2: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" tst r0, #1 \n" /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */ " tst r0, #1 \n"/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
" ite ne \n" " ite ne \n"
" movne r0, #0 \n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ " 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. */ " moveq r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
::: "r0", "memory" ::: "r0", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* Read the CONTROL register. */ " mrs r0, control \n"/* Read the CONTROL register. */
" bic r0, #1 \n" /* Clear the bit 0. */ " bic r0, #1 \n"/* Clear the bit 0. */
" msr control, r0 \n" /* Write back the new CONTROL value. */ " msr control, r0 \n"/* Write back the new CONTROL value. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
::: "r0", "memory" ::: "r0", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vResetPrivilege( void ) /* __attribute__ (( naked )) */ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" orr r0, #1 \n" /* r0 = r0 | 1. */ " orr r0, #1 \n"/* r0 = r0 | 1. */
" msr control, r0 \n" /* CONTROL = r0. */ " msr control, r0 \n"/* CONTROL = r0. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
:::"r0", "memory" ::: "r0", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r0, xVTORConst \n" /* Use the NVIC offset register to locate the stack. */ " 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"/* Read the VTOR register which gives the address of vector table. */
" ldr r0, [r0] \n" /* The first entry in vector table is stack pointer. */ " 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. */ " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */ " cpsie i \n"/* Globally enable interrupts. */
" cpsie f \n" " cpsie f \n"
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" svc %0 \n" /* System call to start the first task. */ " svc %0 \n"/* System call to start the first task. */
" nop \n" " nop \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"xVTORConst: .word 0xe000ed08 \n" "xVTORConst: .word 0xe000ed08 \n"
:: "i" ( portSVC_START_SCHEDULER ) : "memory" ::"i" ( portSVC_START_SCHEDULER ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, basepri \n" /* r0 = basepri. Return original basepri value. */ " mrs r0, basepri \n"/* r0 = basepri. Return original basepri value. */
" mov r1, %0 \n" /* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */ " mov r1, %0 \n"/* r1 = configMAX_SYSCALL_INTERRUPT_PRIORITY. */
" msr basepri, r1 \n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ " msr basepri, r1 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory" ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" msr basepri, r0 \n" /* basepri = ulMask. */ " msr basepri, r0 \n"/* basepri = ulMask. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r0, psp \n" /* Read PSP in r0. */ " mrs r0, psp \n"/* Read PSP in r0. */
#if( configENABLE_FPU == 1 ) #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. */ " 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" " it eq \n"
" vstmdbeq r0!, {s16-s31} \n" /* Store the FPU registers which are not saved automatically. */ " vstmdbeq r0!, {s16-s31} \n"/* Store the FPU registers which are not saved automatically. */
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" mrs r1, psplim \n" /* r1 = PSPLIM. */ " mrs r1, psplim \n"/* r1 = PSPLIM. */
" mrs r2, control \n" /* r2 = CONTROL. */ " mrs r2, control \n"/* r2 = CONTROL. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " 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. */ " stmdb r0!, {r1-r11} \n"/* Store on the stack - PSPLIM, CONTROL, LR and registers that are not automatically saved. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " 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. */ " stmdb r0!, {r2-r11} \n"/* Store on the stack - PSPLIM, LR and registers that are not automatically saved. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r1, [r2] \n" /* Read pxCurrentTCB. */ " ldr r1, [r2] \n"/* Read pxCurrentTCB. */
" str r0, [r1] \n" /* Save the new top of stack in TCB. */ " str r0, [r1] \n"/* Save the new top of stack in TCB. */
" \n" " \n"
" mov r0, %0 \n" /* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */ " mov r0, %0 \n"/* r0 = configMAX_SYSCALL_INTERRUPT_PRIORITY */
" msr basepri, r0 \n" /* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */ " msr basepri, r0 \n"/* Disable interrupts upto configMAX_SYSCALL_INTERRUPT_PRIORITY. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" mov r0, #0 \n" /* r0 = 0. */ " mov r0, #0 \n"/* r0 = 0. */
" msr basepri, r0 \n" /* Enable interrupts. */ " msr basepri, r0 \n"/* Enable interrupts. */
" \n" " \n"
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r1, [r2] \n" /* Read 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. */ " ldr r0, [r1] \n"/* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " bic r4, #1 \n"/* r4 = r4 & ~1 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to MAIR0 in TCB. */ " 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 r3, [r1] \n"/* r3 = *r1 i.e. r3 = MAIR0. */
" ldr r2, xMAIR0Const \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r3, [r2] \n" /* Program MAIR0. */ " str r3, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" movs r3, #4 \n" /* r3 = 4. */ " movs r3, #4 \n"/* r3 = 4. */
" str r3, [r2] \n" /* Program RNR = 4. */ " str r3, [r2] \n"/* Program RNR = 4. */
" adds r1, #4 \n" /* r1 = r1 + 4. r1 now points to first RBAR in TCB. */ " adds r1, #4 \n"/* r1 = r1 + 4. r1 now points to first RBAR in TCB. */
" ldr r2, xRBARConst \n" /* r2 = 0xe000ed9c [Location of RBAR]. */ " ldr r2, xRBARConst \n"/* r2 = 0xe000ed9c [Location of RBAR]. */
" ldmia r1!, {r4-r11} \n" /* Read 4 sets of RBAR/RLAR registers from TCB. */ " 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. */ " stmia r2!, {r4-r11} \n"/* Write 4 set of RBAR/RLAR registers using alias registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value 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. */ " orr r4, #1 \n"/* r4 = r4 | 1 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r0!, {r1-r11} \n" /* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */ " ldmia r0!, {r1-r11} \n"/* Read from stack - r1 = PSPLIM, r2 = CONTROL, r3 = LR and r4-r11 restored. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldmia r0!, {r2-r11} \n" /* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */ " ldmia r0!, {r2-r11} \n"/* Read from stack - r2 = PSPLIM, r3 = LR and r4-r11 restored. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_FPU == 1 ) #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. */ " 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" " it eq \n"
" vldmiaeq r0!, {s16-s31} \n" /* Restore the FPU registers which are not restored automatically. */ " vldmiaeq r0!, {s16-s31} \n"/* Restore the FPU registers which are not restored automatically. */
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" msr psplim, r1 \n" /* Restore the PSPLIM register value for the task. */ " msr psplim, r1 \n"/* Restore the PSPLIM register value for the task. */
" msr control, r2 \n" /* Restore the CONTROL register value for the task. */ " msr control, r2 \n"/* Restore the CONTROL register value for the task. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" msr psplim, r2 \n" /* Restore the PSPLIM register value for the task. */ " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" msr psp, r0 \n" /* Remember the new top of stack for the task. */ " msr psp, r0 \n"/* Remember the new top of stack for the task. */
" bx r3 \n" " bx r3 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB \n" "pxCurrentTCBConst: .word pxCurrentTCB \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst: .word 0xe000ed94 \n" "xMPUCTRLConst: .word 0xe000ed94 \n"
"xMAIR0Const: .word 0xe000edc0 \n" "xMAIR0Const: .word 0xe000edc0 \n"
"xRNRConst: .word 0xe000ed98 \n" "xRNRConst: .word 0xe000ed98 \n"
"xRBARConst: .word 0xe000ed9c \n" "xRBARConst: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
:: "i"( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY )
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" tst lr, #4 \n" " tst lr, #4 \n"
" ite eq \n" " ite eq \n"
" mrseq r0, msp \n" " mrseq r0, msp \n"
" mrsne r0, psp \n" " mrsne r0, psp \n"
" ldr r1, svchandler_address_const \n" " ldr r1, svchandler_address_const \n"
" bx r1 \n" " bx r1 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"svchandler_address_const: .word vPortSVCHandler_C \n" "svchandler_address_const: .word vPortSVCHandler_C \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

340
portable/ARMv8M/non_secure/portable/GCC/ARM_CM33_NTZ/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M33" #define portARCH_NAME "Cortex-M33"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __attribute__(( used )) #define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,155 +155,157 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() ulSetInterruptMask() #define portDISABLE_INTERRUPTS() ulSetInterruptMask()
#define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

344
portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portmacro.h
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@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M23" #define portARCH_NAME "Cortex-M23"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __root #define portDONT_DISCARD __root
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,162 +155,164 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in /* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
* the source code because to do so would cause other compilers to generate * the source code because to do so would cause other compilers to generate
* warnings. */ * warnings. */
#pragma diag_suppress=Be006 #pragma diag_suppress=Be006
#pragma diag_suppress=Pa082 #pragma diag_suppress=Pa082
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

344
portable/ARMv8M/non_secure/portable/IAR/ARM_CM23_NTZ/portmacro.h
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@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M23" #define portARCH_NAME "Cortex-M23"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __root #define portDONT_DISCARD __root
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,162 +155,164 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in /* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
* the source code because to do so would cause other compilers to generate * the source code because to do so would cause other compilers to generate
* warnings. */ * warnings. */
#pragma diag_suppress=Be006 #pragma diag_suppress=Be006
#pragma diag_suppress=Pa082 #pragma diag_suppress=Pa082
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

344
portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portmacro.h
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@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M33" #define portARCH_NAME "Cortex-M33"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __root #define portDONT_DISCARD __root
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,162 +155,164 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() ulSetInterruptMask() #define portDISABLE_INTERRUPTS() ulSetInterruptMask()
#define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in /* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
* the source code because to do so would cause other compilers to generate * the source code because to do so would cause other compilers to generate
* warnings. */ * warnings. */
#pragma diag_suppress=Be006 #pragma diag_suppress=Be006
#pragma diag_suppress=Pa082 #pragma diag_suppress=Pa082
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

344
portable/ARMv8M/non_secure/portable/IAR/ARM_CM33_NTZ/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M33" #define portARCH_NAME "Cortex-M33"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __root #define portDONT_DISCARD __root
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,162 +155,164 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() ulSetInterruptMask() #define portDISABLE_INTERRUPTS() ulSetInterruptMask()
#define portENABLE_INTERRUPTS() vClearInterruptMask( 0 ) #define portENABLE_INTERRUPTS() vClearInterruptMask( 0 )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in /* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
* the source code because to do so would cause other compilers to generate * the source code because to do so would cause other compilers to generate
* warnings. */ * warnings. */
#pragma diag_suppress=Be006 #pragma diag_suppress=Be006
#pragma diag_suppress=Pa082 #pragma diag_suppress=Pa082
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

22
portable/ARMv8M/non_secure/portasm.h
View file

@ -37,14 +37,14 @@
* @brief Restore the context of the first task so that the first task starts * @brief Restore the context of the first task so that the first task starts
* executing. * executing.
*/ */
void vRestoreContextOfFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Checks whether or not the processor is privileged. * @brief Checks whether or not the processor is privileged.
* *
* @return 1 if the processor is already privileged, 0 otherwise. * @return 1 if the processor is already privileged, 0 otherwise.
*/ */
BaseType_t xIsPrivileged( void ) __attribute__ (( naked )); BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) );
/** /**
* @brief Raises the privilege level by clearing the bit 0 of the CONTROL * @brief Raises the privilege level by clearing the bit 0 of the CONTROL
@ -57,7 +57,7 @@ BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
* Bit[0] = 0 --> The processor is running privileged * Bit[0] = 0 --> The processor is running privileged
* Bit[0] = 1 --> The processor is running unprivileged. * Bit[0] = 1 --> The processor is running unprivileged.
*/ */
void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Lowers the privilege level by setting the bit 0 of the CONTROL * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
@ -67,32 +67,32 @@ void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
* Bit[0] = 0 --> The processor is running privileged * Bit[0] = 0 --> The processor is running privileged
* Bit[0] = 1 --> The processor is running unprivileged. * Bit[0] = 1 --> The processor is running unprivileged.
*/ */
void vResetPrivilege( void ) __attribute__ (( naked )); void vResetPrivilege( void ) __attribute__( ( naked ) );
/** /**
* @brief Starts the first task. * @brief Starts the first task.
*/ */
void vStartFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Disables interrupts. * @brief Disables interrupts.
*/ */
uint32_t ulSetInterruptMask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION; uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Enables interrupts. * @brief Enables interrupts.
*/ */
void vClearInterruptMask( uint32_t ulMask ) __attribute__(( naked )) PRIVILEGED_FUNCTION; void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief PendSV Exception handler. * @brief PendSV Exception handler.
*/ */
void PendSV_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief SVC Handler. * @brief SVC Handler.
*/ */
void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Allocate a Secure context for the calling task. * @brief Allocate a Secure context for the calling task.
@ -100,13 +100,13 @@ void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
* @param[in] ulSecureStackSize The size of the stack to be allocated on the * @param[in] ulSecureStackSize The size of the stack to be allocated on the
* secure side for the calling task. * secure side for the calling task.
*/ */
void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__ (( naked )); void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) );
/** /**
* @brief Free the task's secure context. * @brief Free the task's secure context.
* *
* @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task.
*/ */
void vPortFreeSecureContext( uint32_t *pulTCB ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
#endif /* __PORT_ASM_H__ */ #endif /* __PORT_ASM_H__ */

94
portable/ARMv8M/secure/context/portable/GCC/ARM_CM23/secure_context_port.c
View file

@ -30,61 +30,61 @@
/* Secure port macros. */ /* Secure port macros. */
#include "secure_port_macros.h" #include "secure_port_macros.h"
#if( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
#endif #endif
secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
{ {
/* xSecureContextHandle value is in r0. */ /* xSecureContextHandle value is in r0. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r1, ipsr \n" /* r1 = IPSR. */ " mrs r1, ipsr \n"/* r1 = IPSR. */
" cbz r1, load_ctx_therad_mode \n" /* Do nothing if the processor is running in the Thread Mode. */ " 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. */ " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r1!, {r3} \n" /* Read CONTROL register value from task's stack. r3 = CONTROL. */ " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */
" msr control, r3 \n" /* CONTROL = r3. */ " msr control, r3 \n"/* CONTROL = r3. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" msr psplim, r2 \n" /* PSPLIM = r2. */ " msr psplim, r2 \n"/* PSPLIM = r2. */
" msr psp, r1 \n" /* PSP = r1. */ " msr psp, r1 \n"/* PSP = r1. */
" \n" " \n"
" load_ctx_therad_mode: \n" " load_ctx_therad_mode: \n"
" nop \n" " nop \n"
" \n" " \n"
:::"r0", "r1", "r2" ::: "r0", "r1", "r2"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
{ {
/* xSecureContextHandle value is in r0. */ /* xSecureContextHandle value is in r0. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r1, ipsr \n" /* r1 = IPSR. */ " mrs r1, ipsr \n"/* r1 = IPSR. */
" cbz r1, save_ctx_therad_mode \n" /* Do nothing if the processor is running in the Thread Mode. */ " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */
" mrs r1, psp \n" /* r1 = PSP. */ " mrs r1, psp \n"/* r1 = PSP. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" mrs r2, control \n" /* r2 = CONTROL. */ " mrs r2, control \n"/* r2 = CONTROL. */
" subs r1, r1, #4 \n" /* Make space for the CONTROL value on the stack. */ " 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. */ " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
" stmia r1!, {r2} \n" /* Store CONTROL value on the stack. */ " stmia r1!, {r2} \n"/* Store CONTROL value on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" str r1, [r0] \n" /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" movs r1, %0 \n" /* r1 = securecontextNO_STACK. */ " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */
" msr psplim, r1 \n" /* PSPLIM = 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. */ " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */
" \n" " \n"
" save_ctx_therad_mode: \n" " save_ctx_therad_mode: \n"
" nop \n" " nop \n"
" \n" " \n"
:: "i" ( securecontextNO_STACK ) : "r1", "memory" ::"i" ( securecontextNO_STACK ) : "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

92
portable/ARMv8M/secure/context/portable/GCC/ARM_CM33/secure_context_port.c
View file

@ -32,56 +32,56 @@
secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
{ {
/* xSecureContextHandle value is in r0. */ /* xSecureContextHandle value is in r0. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r1, ipsr \n" /* r1 = IPSR. */ " mrs r1, ipsr \n"/* r1 = IPSR. */
" cbz r1, load_ctx_therad_mode \n" /* Do nothing if the processor is running in the Thread Mode. */ " 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. */ " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r1!, {r3} \n" /* Read CONTROL register value from task's stack. r3 = CONTROL. */ " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */
" msr control, r3 \n" /* CONTROL = r3. */ " msr control, r3 \n"/* CONTROL = r3. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" msr psplim, r2 \n" /* PSPLIM = r2. */ " msr psplim, r2 \n"/* PSPLIM = r2. */
" msr psp, r1 \n" /* PSP = r1. */ " msr psp, r1 \n"/* PSP = r1. */
" \n" " \n"
" load_ctx_therad_mode: \n" " load_ctx_therad_mode: \n"
" nop \n" " nop \n"
" \n" " \n"
:::"r0", "r1", "r2" ::: "r0", "r1", "r2"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
{ {
/* xSecureContextHandle value is in r0. */ /* xSecureContextHandle value is in r0. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r1, ipsr \n" /* r1 = IPSR. */ " mrs r1, ipsr \n"/* r1 = IPSR. */
" cbz r1, save_ctx_therad_mode \n" /* Do nothing if the processor is running in the Thread Mode. */ " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */
" mrs r1, psp \n" /* r1 = PSP. */ " mrs r1, psp \n"/* r1 = PSP. */
#if( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
" vstmdb r1!, {s0} \n" /* Trigger the defferred stacking of FPU registers. */ " vstmdb r1!, {s0} \n"/* Trigger the defferred stacking of FPU registers. */
" vldmia r1!, {s0} \n" /* Nullify the effect of the pervious statement. */ " vldmia r1!, {s0} \n"/* Nullify the effect of the pervious statement. */
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" mrs r2, control \n" /* r2 = CONTROL. */ " mrs r2, control \n"/* r2 = CONTROL. */
" stmdb r1!, {r2} \n" /* Store CONTROL value on the stack. */ " stmdb r1!, {r2} \n"/* Store CONTROL value on the stack. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" str r1, [r0] \n" /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
" movs r1, %0 \n" /* r1 = securecontextNO_STACK. */ " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */
" msr psplim, r1 \n" /* PSPLIM = 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. */ " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */
" \n" " \n"
" save_ctx_therad_mode: \n" " save_ctx_therad_mode: \n"
" nop \n" " nop \n"
" \n" " \n"
:: "i" ( securecontextNO_STACK ) : "r1", "memory" ::"i" ( securecontextNO_STACK ) : "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

4
portable/ARMv8M/secure/context/portable/IAR/ARM_CM23/secure_context_port.c
View file

@ -36,12 +36,12 @@ extern void SecureContext_SaveContextAsm( SecureContextHandle_t xSecureContextHa
secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
{ {
SecureContext_LoadContextAsm( xSecureContextHandle ); SecureContext_LoadContextAsm( xSecureContextHandle );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
{ {
SecureContext_SaveContextAsm( xSecureContextHandle ); SecureContext_SaveContextAsm( xSecureContextHandle );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

4
portable/ARMv8M/secure/context/portable/IAR/ARM_CM33/secure_context_port.c
View file

@ -36,12 +36,12 @@ extern void SecureContext_SaveContextAsm( SecureContextHandle_t xSecureContextHa
secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
{ {
SecureContext_LoadContextAsm( xSecureContextHandle ); SecureContext_LoadContextAsm( xSecureContextHandle );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
{ {
SecureContext_SaveContextAsm( xSecureContextHandle ); SecureContext_SaveContextAsm( xSecureContextHandle );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

224
portable/ARMv8M/secure/context/secure_context.c
View file

@ -39,7 +39,7 @@
* Bit[0] - 0 --> Thread mode is privileged. * Bit[0] - 0 --> Thread mode is privileged.
* Bit[1] - 1 --> Thread mode uses PSP. * Bit[1] - 1 --> Thread mode uses PSP.
*/ */
#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 #define securecontextCONTROL_VALUE_PRIVILEGED 0x02
/** /**
* @brief CONTROL value for un-privileged tasks. * @brief CONTROL value for un-privileged tasks.
@ -47,7 +47,7 @@
* Bit[0] - 1 --> Thread mode is un-privileged. * Bit[0] - 1 --> Thread mode is un-privileged.
* Bit[1] - 1 --> Thread mode uses PSP. * Bit[1] - 1 --> Thread mode uses PSP.
*/ */
#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 #define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -58,146 +58,148 @@
*/ */
typedef struct SecureContext typedef struct SecureContext
{ {
uint8_t *pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */
uint8_t *pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */
uint8_t *pucStackStart; /**< First location of the stack memory. */ uint8_t * pucStackStart; /**< First location of the stack memory. */
} SecureContext_t; } SecureContext_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) secureportNON_SECURE_CALLABLE void SecureContext_Init( void )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
/* No stack for thread mode until a task's context is loaded. */ /* No stack for thread mode until a task's context is loaded. */
secureportSET_PSPLIM( securecontextNO_STACK ); secureportSET_PSPLIM( securecontextNO_STACK );
secureportSET_PSP( securecontextNO_STACK ); secureportSET_PSP( securecontextNO_STACK );
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Configure thread mode to use PSP and to be unprivileged. */ /* Configure thread mode to use PSP and to be unprivileged. */
secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED );
} }
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
{ {
/* Configure thread mode to use PSP and to be privileged.. */ /* Configure thread mode to use PSP and to be privileged.. */
secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged ) secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize,
uint32_t ulIsTaskPrivileged )
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
{ {
uint8_t *pucStackMemory = NULL; uint8_t * pucStackMemory = NULL;
uint32_t ulIPSR; uint32_t ulIPSR;
SecureContextHandle_t xSecureContextHandle = NULL; SecureContextHandle_t xSecureContextHandle = NULL;
#if( configENABLE_MPU == 1 )
uint32_t *pulCurrentStackPointer = NULL;
#endif /* configENABLE_MPU */
/* Read the Interrupt Program Status Register (IPSR) value. */ #if ( configENABLE_MPU == 1 )
secureportREAD_IPSR( ulIPSR ); uint32_t * pulCurrentStackPointer = NULL;
#endif /* configENABLE_MPU */
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Read the Interrupt Program Status Register (IPSR) value. */
* when the processor is running in the Thread Mode. */ secureportREAD_IPSR( ulIPSR );
if( ulIPSR != 0 )
{
/* Allocate the context structure. */
xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) );
if( xSecureContextHandle != NULL ) /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
{ * when the processor is running in the Thread Mode. */
/* Allocate the stack space. */ if( ulIPSR != 0 )
pucStackMemory = pvPortMalloc( ulSecureStackSize ); {
/* Allocate the context structure. */
xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) );
if( pucStackMemory != NULL ) if( xSecureContextHandle != NULL )
{ {
/* Since stack grows down, the starting point will be the last /* Allocate the stack space. */
* location. Note that this location is next to the last pucStackMemory = pvPortMalloc( ulSecureStackSize );
* 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 if( pucStackMemory != NULL )
* programmed in the PSPLIM register on context switch.*/ {
xSecureContextHandle->pucStackLimit = pucStackMemory; /* 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;
#if( configENABLE_MPU == 1 ) /* The stack cannot go beyond this location. This value is
{ * programmed in the PSPLIM register on context switch.*/
/* Store the correct CONTROL value for the task on the stack. xSecureContextHandle->pucStackLimit = pucStackMemory;
* 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 #if ( configENABLE_MPU == 1 )
* the PSP register on context switch. */ {
xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; /* Store the correct CONTROL value for the task on the stack.
} * This value is programmed in the CONTROL register on
#else /* configENABLE_MPU */ * context switch. */
{ pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart;
/* Current SP is set to the starting of the stack. This pulCurrentStackPointer--;
* value programmed in the PSP register on context switch. */
xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart;
} if( ulIsTaskPrivileged )
#endif /* configENABLE_MPU */ {
} *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED;
else }
{ else
/* Free the context to avoid memory leak and make sure to return {
* NULL to indicate failure. */ *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED;
vPortFree( xSecureContextHandle ); }
xSecureContextHandle = NULL;
}
}
}
return xSecureContextHandle; /* 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 ) secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
/* Ensure that valid parameters are passed. */ /* Ensure that valid parameters are passed. */
secureportASSERT( xSecureContextHandle != NULL ); secureportASSERT( xSecureContextHandle != NULL );
/* Free the stack space. */ /* Free the stack space. */
vPortFree( xSecureContextHandle->pucStackLimit ); vPortFree( xSecureContextHandle->pucStackLimit );
/* Free the context itself. */ /* Free the context itself. */
vPortFree( xSecureContextHandle ); vPortFree( xSecureContextHandle );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

11
portable/ARMv8M/secure/context/secure_context.h
View file

@ -36,13 +36,13 @@
/** /**
* @brief PSP value when no task's context is loaded. * @brief PSP value when no task's context is loaded.
*/ */
#define securecontextNO_STACK 0x0 #define securecontextNO_STACK 0x0
/** /**
* @brief Opaque handle. * @brief Opaque handle.
*/ */
struct SecureContext; struct SecureContext;
typedef struct SecureContext* SecureContextHandle_t; typedef struct SecureContext * SecureContextHandle_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -68,10 +68,11 @@ void SecureContext_Init( void );
* @return Opaque context handle if context is successfully allocated, NULL * @return Opaque context handle if context is successfully allocated, NULL
* otherwise. * otherwise.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged ); SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize,
uint32_t ulIsTaskPrivileged );
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize );
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/** /**

552
portable/ARMv8M/secure/heap/secure_heap.c
View file

@ -36,37 +36,38 @@
/** /**
* @brief Total heap size. * @brief Total heap size.
*/ */
#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) #define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) )
/* No test marker by default. */ /* No test marker by default. */
#ifndef mtCOVERAGE_TEST_MARKER #ifndef mtCOVERAGE_TEST_MARKER
#define mtCOVERAGE_TEST_MARKER() #define mtCOVERAGE_TEST_MARKER()
#endif #endif
/* No tracing by default. */ /* No tracing by default. */
#ifndef traceMALLOC #ifndef traceMALLOC
#define traceMALLOC( pvReturn, xWantedSize ) #define traceMALLOC( pvReturn, xWantedSize )
#endif #endif
/* No tracing by default. */ /* No tracing by default. */
#ifndef traceFREE #ifndef traceFREE
#define traceFREE( pv, xBlockSize ) #define traceFREE( pv, xBlockSize )
#endif #endif
/* Block sizes must not get too small. */ /* Block sizes must not get too small. */
#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) #define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) )
/* Assumes 8bit bytes! */ /* Assumes 8bit bytes! */
#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) #define secureheapBITS_PER_BYTE ( ( size_t ) 8 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Allocate the memory for the heap. */ /* Allocate the memory for the heap. */
#if( configAPPLICATION_ALLOCATED_HEAP == 1 ) #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. */ /* The application writer has already defined the array used for the RTOS
extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; * heap - probably so it can be placed in a special segment or address. */
extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
#else /* configAPPLICATION_ALLOCATED_HEAP */ #else /* configAPPLICATION_ALLOCATED_HEAP */
static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
#endif /* configAPPLICATION_ALLOCATED_HEAP */ #endif /* configAPPLICATION_ALLOCATED_HEAP */
/** /**
@ -76,8 +77,8 @@
*/ */
typedef struct A_BLOCK_LINK typedef struct A_BLOCK_LINK
{ {
struct A_BLOCK_LINK *pxNextFreeBlock; /**< The next free block in the list. */ struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */
size_t xBlockSize; /**< The size of the free block. */ size_t xBlockSize; /**< The size of the free block. */
} BlockLink_t; } BlockLink_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -96,7 +97,7 @@ static void prvHeapInit( void );
* *
* @param[in] pxBlockToInsert The block being freed. * @param[in] pxBlockToInsert The block being freed.
*/ */
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ); static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -108,13 +109,13 @@ static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( s
/** /**
* @brief Create a couple of list links to mark the start and end of the list. * @brief Create a couple of list links to mark the start and end of the list.
*/ */
static BlockLink_t xStart, *pxEnd = NULL; static BlockLink_t xStart, * pxEnd = NULL;
/** /**
* @brief Keeps track of the number of free bytes remaining, but says nothing * @brief Keeps track of the number of free bytes remaining, but says nothing
* about fragmentation. * about fragmentation.
*/ */
static size_t xFreeBytesRemaining = 0U; static size_t xFreeBytesRemaining = 0U;
static size_t xMinimumEverFreeBytesRemaining = 0U; static size_t xMinimumEverFreeBytesRemaining = 0U;
/** /**
@ -124,326 +125,329 @@ static size_t xMinimumEverFreeBytesRemaining = 0U;
* then the block belongs to the application. When the bit is free the block is * then the block belongs to the application. When the bit is free the block is
* still part of the free heap space. * still part of the free heap space.
*/ */
static size_t xBlockAllocatedBit = 0; static size_t xBlockAllocatedBit = 0;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvHeapInit( void ) static void prvHeapInit( void )
{ {
BlockLink_t *pxFirstFreeBlock; BlockLink_t * pxFirstFreeBlock;
uint8_t *pucAlignedHeap; uint8_t * pucAlignedHeap;
size_t uxAddress; size_t uxAddress;
size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE;
/* Ensure the heap starts on a correctly aligned boundary. */ /* Ensure the heap starts on a correctly aligned boundary. */
uxAddress = ( size_t ) ucHeap; uxAddress = ( size_t ) ucHeap;
if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 )
{ {
uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); uxAddress += ( secureportBYTE_ALIGNMENT - 1 );
uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
} }
pucAlignedHeap = ( uint8_t * ) uxAddress; pucAlignedHeap = ( uint8_t * ) uxAddress;
/* xStart is used to hold a pointer to the first item in the list of free /* 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. */ * blocks. The void cast is used to prevent compiler warnings. */
xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
xStart.xBlockSize = ( size_t ) 0; xStart.xBlockSize = ( size_t ) 0;
/* pxEnd is used to mark the end of the list of free blocks and is inserted /* pxEnd is used to mark the end of the list of free blocks and is inserted
* at the end of the heap space. */ * at the end of the heap space. */
uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
uxAddress -= xHeapStructSize; uxAddress -= xHeapStructSize;
uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
pxEnd = ( void * ) uxAddress; pxEnd = ( void * ) uxAddress;
pxEnd->xBlockSize = 0; pxEnd->xBlockSize = 0;
pxEnd->pxNextFreeBlock = NULL; pxEnd->pxNextFreeBlock = NULL;
/* To start with there is a single free block that is sized to take up the /* 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. */ * entire heap space, minus the space taken by pxEnd. */
pxFirstFreeBlock = ( void * ) pucAlignedHeap; pxFirstFreeBlock = ( void * ) pucAlignedHeap;
pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock;
pxFirstFreeBlock->pxNextFreeBlock = pxEnd; pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
/* Only one block exists - and it covers the entire usable heap space. */ /* Only one block exists - and it covers the entire usable heap space. */
xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
/* Work out the position of the top bit in a size_t variable. */ /* Work out the position of the top bit in a size_t variable. */
xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ) static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert )
{ {
BlockLink_t *pxIterator; BlockLink_t * pxIterator;
uint8_t *puc; uint8_t * puc;
/* Iterate through the list until a block is found that has a higher address /* Iterate through the list until a block is found that has a higher address
* than the block being inserted. */ * than the block being inserted. */
for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
{ {
/* Nothing to do here, just iterate to the right position. */ /* Nothing to do here, just iterate to the right position. */
} }
/* Do the block being inserted, and the block it is being inserted after /* Do the block being inserted, and the block it is being inserted after
* make a contiguous block of memory? */ * make a contiguous block of memory? */
puc = ( uint8_t * ) pxIterator; 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 if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
* make a contiguous block of memory? */ {
puc = ( uint8_t * ) pxBlockToInsert; pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) pxBlockToInsert = pxIterator;
{ }
if( pxIterator->pxNextFreeBlock != pxEnd ) else
{ {
/* Form one big block from the two blocks. */ mtCOVERAGE_TEST_MARKER();
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 /* Do the block being inserted, and the block it is being inserted before
* before and the block after, then it's pxNextFreeBlock pointer will have * make a contiguous block of memory? */
* already been set, and should not be set here as that would make it point puc = ( uint8_t * ) pxBlockToInsert;
* to itself. */
if( pxIterator != pxBlockToInsert ) if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
{ {
pxIterator->pxNextFreeBlock = pxBlockToInsert; if( pxIterator->pxNextFreeBlock != pxEnd )
} {
else /* Form one big block from the two blocks. */
{ pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
mtCOVERAGE_TEST_MARKER(); 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 ) void * pvPortMalloc( size_t xWantedSize )
{ {
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink;
void *pvReturn = NULL; void * pvReturn = NULL;
/* If this is the first call to malloc then the heap will require /* If this is the first call to malloc then the heap will require
* initialisation to setup the list of free blocks. */ * initialisation to setup the list of free blocks. */
if( pxEnd == NULL ) if( pxEnd == NULL )
{ {
prvHeapInit(); prvHeapInit();
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
/* Check the requested block size is not so large that the top bit is set. /* 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 * 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 * to determine who owns the block - the application or the kernel, so it
* must be free. */ * must be free. */
if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
{ {
/* The wanted size is increased so it can contain a BlockLink_t /* The wanted size is increased so it can contain a BlockLink_t
* structure in addition to the requested amount of bytes. */ * structure in addition to the requested amount of bytes. */
if( xWantedSize > 0 ) if( xWantedSize > 0 )
{ {
xWantedSize += xHeapStructSize; xWantedSize += xHeapStructSize;
/* Ensure that blocks are always aligned to the required number of /* Ensure that blocks are always aligned to the required number of
* bytes. */ * bytes. */
if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 )
{ {
/* Byte alignment required. */ /* Byte alignment required. */
xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) );
secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 );
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
{ {
/* Traverse the list from the start (lowest address) block until /* Traverse the list from the start (lowest address) block until
* one of adequate size is found. */ * one of adequate size is found. */
pxPreviousBlock = &xStart; pxPreviousBlock = &xStart;
pxBlock = xStart.pxNextFreeBlock; 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 while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
* not found. */ {
if( pxBlock != pxEnd ) pxPreviousBlock = pxBlock;
{ pxBlock = pxBlock->pxNextFreeBlock;
/* 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 /* If the end marker was reached then a block of adequate size was
* of the list of free blocks. */ * not found. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; 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 );
/* If the block is larger than required it can be split into /* This block is being returned for use so must be taken out
* two. */ * of the list of free blocks. */
if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
{
/* 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 /* If the block is larger than required it can be split into
* block. */ * two. */
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE )
pxBlock->xBlockSize = xWantedSize; {
/* 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 );
/* Insert the new block into the list of free blocks. */ /* Calculate the sizes of two blocks split from the single
prvInsertBlockIntoFreeList( pxNewBlockLink ); * block. */
} pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
else pxBlock->xBlockSize = xWantedSize;
{
mtCOVERAGE_TEST_MARKER();
}
xFreeBytesRemaining -= pxBlock->xBlockSize; /* Insert the new block into the list of free blocks. */
prvInsertBlockIntoFreeList( pxNewBlockLink );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) xFreeBytesRemaining -= pxBlock->xBlockSize;
{
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The block is being returned - it is allocated and owned by if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
* the application and has no "next" block. */ {
pxBlock->xBlockSize |= xBlockAllocatedBit; xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
pxBlock->pxNextFreeBlock = NULL; }
} else
else {
{ mtCOVERAGE_TEST_MARKER();
mtCOVERAGE_TEST_MARKER(); }
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
traceMALLOC( pvReturn, xWantedSize ); /* 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();
}
#if( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) traceMALLOC( pvReturn, xWantedSize );
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif
secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 )
return pvReturn; {
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */
secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 );
return pvReturn;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortFree( void *pv ) void vPortFree( void * pv )
{ {
uint8_t *puc = ( uint8_t * ) pv; uint8_t * puc = ( uint8_t * ) pv;
BlockLink_t *pxLink; BlockLink_t * pxLink;
if( pv != NULL ) if( pv != NULL )
{ {
/* The memory being freed will have an BlockLink_t structure immediately /* The memory being freed will have an BlockLink_t structure immediately
* before it. */ * before it. */
puc -= xHeapStructSize; puc -= xHeapStructSize;
/* This casting is to keep the compiler from issuing warnings. */ /* This casting is to keep the compiler from issuing warnings. */
pxLink = ( void * ) puc; pxLink = ( void * ) puc;
/* Check the block is actually allocated. */ /* Check the block is actually allocated. */
secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
secureportASSERT( pxLink->pxNextFreeBlock == NULL ); secureportASSERT( pxLink->pxNextFreeBlock == NULL );
if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
{ {
if( pxLink->pxNextFreeBlock == NULL ) if( pxLink->pxNextFreeBlock == NULL )
{ {
/* The block is being returned to the heap - it is no longer /* The block is being returned to the heap - it is no longer
* allocated. */ * allocated. */
pxLink->xBlockSize &= ~xBlockAllocatedBit; pxLink->xBlockSize &= ~xBlockAllocatedBit;
secureportDISABLE_NON_SECURE_INTERRUPTS(); secureportDISABLE_NON_SECURE_INTERRUPTS();
{ {
/* Add this block to the list of free blocks. */ /* Add this block to the list of free blocks. */
xFreeBytesRemaining += pxLink->xBlockSize; xFreeBytesRemaining += pxLink->xBlockSize;
traceFREE( pv, pxLink->xBlockSize ); traceFREE( pv, pxLink->xBlockSize );
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
} }
secureportENABLE_NON_SECURE_INTERRUPTS(); secureportENABLE_NON_SECURE_INTERRUPTS();
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void ) size_t xPortGetFreeHeapSize( void )
{ {
return xFreeBytesRemaining; return xFreeBytesRemaining;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
size_t xPortGetMinimumEverFreeHeapSize( void ) size_t xPortGetMinimumEverFreeHeapSize( void )
{ {
return xMinimumEverFreeBytesRemaining; return xMinimumEverFreeBytesRemaining;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void ) void vPortInitialiseBlocks( void )
{ {
/* This just exists to keep the linker quiet. */ /* This just exists to keep the linker quiet. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

4
portable/ARMv8M/secure/heap/secure_heap.h
View file

@ -38,13 +38,13 @@
* @return Pointer to the memory region if the allocation is successful, NULL * @return Pointer to the memory region if the allocation is successful, NULL
* otherwise. * otherwise.
*/ */
void *pvPortMalloc( size_t xWantedSize ); void * pvPortMalloc( size_t xWantedSize );
/** /**
* @brief Frees the previously allocated memory. * @brief Frees the previously allocated memory.
* *
* @param[in] pv Pointer to the memory to be freed. * @param[in] pv Pointer to the memory to be freed.
*/ */
void vPortFree( void *pv ); void vPortFree( void * pv );
#endif /* __SECURE_HEAP_H__ */ #endif /* __SECURE_HEAP_H__ */

88
portable/ARMv8M/secure/init/secure_init.c
View file

@ -36,69 +36,69 @@
/** /**
* @brief Constants required to manipulate the SCB. * @brief Constants required to manipulate the SCB.
*/ */
#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ #define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */
#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) #define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL )
#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) #define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS )
#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) #define secureinitSCB_AIRCR_PRIS_POS ( 14UL )
#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) #define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS )
/** /**
* @brief Constants required to manipulate the FPU. * @brief Constants required to manipulate the FPU.
*/ */
#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ #define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */
#define secureinitFPCCR_LSPENS_POS ( 29UL ) #define secureinitFPCCR_LSPENS_POS ( 29UL )
#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) #define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS )
#define secureinitFPCCR_TS_POS ( 26UL ) #define secureinitFPCCR_TS_POS ( 26UL )
#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) #define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS )
#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ #define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */
#define secureinitNSACR_CP10_POS ( 10UL ) #define secureinitNSACR_CP10_POS ( 10UL )
#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) #define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS )
#define secureinitNSACR_CP11_POS ( 11UL ) #define secureinitNSACR_CP11_POS ( 11UL )
#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) #define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
*( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) |
( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) |
( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
/* CP10 = 1 ==> Non-secure access to the Floating Point Unit is /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is
* permitted. CP11 should be programmed to the same value as CP10. */ * permitted. CP11 should be programmed to the same value as CP10. */
*( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK );
/* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures
* that we can enable/disable lazy stacking in port.c file. */ * that we can enable/disable lazy stacking in port.c file. */
*( secureinitFPCCR ) &= ~ ( secureinitFPCCR_LSPENS_MASK ); *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK );
/* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP
* registers (S16-S31) are also pushed to stack on exception entry and * registers (S16-S31) are also pushed to stack on exception entry and
* restored on exception return. */ * restored on exception return. */
*( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

48
portable/ARMv8M/secure/macros/secure_port_macros.h
View file

@ -30,103 +30,103 @@
/** /**
* @brief Byte alignment requirements. * @brief Byte alignment requirements.
*/ */
#define secureportBYTE_ALIGNMENT 8 #define secureportBYTE_ALIGNMENT 8
#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) #define secureportBYTE_ALIGNMENT_MASK ( 0x0007 )
/** /**
* @brief Macro to declare a function as non-secure callable. * @brief Macro to declare a function as non-secure callable.
*/ */
#if defined( __IAR_SYSTEMS_ICC__ ) #if defined( __IAR_SYSTEMS_ICC__ )
#define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root
#else #else
#define secureportNON_SECURE_CALLABLE __attribute__((cmse_nonsecure_entry)) __attribute__((used)) #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) )
#endif #endif
/** /**
* @brief Set the secure PRIMASK value. * @brief Set the secure PRIMASK value.
*/ */
#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ #define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \
__asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" )
/** /**
* @brief Set the non-secure PRIMASK value. * @brief Set the non-secure PRIMASK value.
*/ */
#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ #define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \
__asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" )
/** /**
* @brief Read the PSP value in the given variable. * @brief Read the PSP value in the given variable.
*/ */
#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ #define secureportREAD_PSP( pucOutCurrentStackPointer ) \
__asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) )
/** /**
* @brief Set the PSP to the given value. * @brief Set the PSP to the given value.
*/ */
#define secureportSET_PSP( pucCurrentStackPointer ) \ #define secureportSET_PSP( pucCurrentStackPointer ) \
__asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) )
/** /**
* @brief Set the PSPLIM to the given value. * @brief Set the PSPLIM to the given value.
*/ */
#define secureportSET_PSPLIM( pucStackLimit ) \ #define secureportSET_PSPLIM( pucStackLimit ) \
__asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) )
/** /**
* @brief Set the NonSecure MSP to the given value. * @brief Set the NonSecure MSP to the given value.
*/ */
#define secureportSET_MSP_NS( pucMainStackPointer ) \ #define secureportSET_MSP_NS( pucMainStackPointer ) \
__asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) )
/** /**
* @brief Set the CONTROL register to the given value. * @brief Set the CONTROL register to the given value.
*/ */
#define secureportSET_CONTROL( ulControl ) \ #define secureportSET_CONTROL( ulControl ) \
__asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" )
/** /**
* @brief Read the Interrupt Program Status Register (IPSR) value in the given * @brief Read the Interrupt Program Status Register (IPSR) value in the given
* variable. * variable.
*/ */
#define secureportREAD_IPSR( ulIPSR ) \ #define secureportREAD_IPSR( ulIPSR ) \
__asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) )
/** /**
* @brief PRIMASK value to enable interrupts. * @brief PRIMASK value to enable interrupts.
*/ */
#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 #define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0
/** /**
* @brief PRIMASK value to disable interrupts. * @brief PRIMASK value to disable interrupts.
*/ */
#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 #define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1
/** /**
* @brief Disable secure interrupts. * @brief Disable secure interrupts.
*/ */
#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) #define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
/** /**
* @brief Disable non-secure interrupts. * @brief Disable non-secure interrupts.
* *
* This effectively disables context switches. * This effectively disables context switches.
*/ */
#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) #define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
/** /**
* @brief Enable non-secure interrupts. * @brief Enable non-secure interrupts.
*/ */
#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) #define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL )
/** /**
* @brief Assert definition. * @brief Assert definition.
*/ */
#define secureportASSERT( x ) \ #define secureportASSERT( x ) \
if( ( x ) == 0 ) \ if( ( x ) == 0 ) \
{ \ { \
secureportDISABLE_SECURE_INTERRUPTS(); \ secureportDISABLE_SECURE_INTERRUPTS(); \
secureportDISABLE_NON_SECURE_INTERRUPTS(); \ secureportDISABLE_NON_SECURE_INTERRUPTS(); \
for( ;; ); \ for( ; ; ) {; } \
} }
#endif /* __SECURE_PORT_MACROS_H__ */ #endif /* __SECURE_PORT_MACROS_H__ */

256
portable/BCC/16BitDOS/Flsh186/port.c
View file

@ -25,22 +25,22 @@
*/ */
/* /*
Changes from V1.00: * Changes from V1.00:
*
+ Call to taskYIELD() from within tick ISR has been replaced by the more + Call to taskYIELD() from within tick ISR has been replaced by the more
efficient portSWITCH_CONTEXT(). + efficient portSWITCH_CONTEXT().
+ ISR function definitions renamed to include the prv prefix. + ISR function definitions renamed to include the prv prefix.
+
Changes from V2.6.1 + Changes from V2.6.1
+
+ Replaced the sUsingPreemption variable with the configUSE_PREEMPTION + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION
macro to be consistent with the later ports. + macro to be consistent with the later ports.
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the Flashlite 186 * Implementation of functions defined in portable.h for the Flashlite 186
* port. * port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
#include <dos.h> #include <dos.h>
#include <stdlib.h> #include <stdlib.h>
@ -52,13 +52,13 @@ Changes from V2.6.1
/*lint -e950 Non ANSI reserved words okay in this file only. */ /*lint -e950 Non ANSI reserved words okay in this file only. */
#define portTIMER_EOI_TYPE ( 8 ) #define portTIMER_EOI_TYPE ( 8 )
#define portRESET_PIC() portOUTPUT_WORD( ( uint16_t ) 0xff22, portTIMER_EOI_TYPE ) #define portRESET_PIC() portOUTPUT_WORD( ( uint16_t ) 0xff22, portTIMER_EOI_TYPE )
#define portTIMER_INT_NUMBER 0x12 #define portTIMER_INT_NUMBER 0x12
#define portTIMER_1_CONTROL_REGISTER ( ( uint16_t ) 0xff5e ) #define portTIMER_1_CONTROL_REGISTER ( ( uint16_t ) 0xff5e )
#define portTIMER_0_CONTROL_REGISTER ( ( uint16_t ) 0xff56 ) #define portTIMER_0_CONTROL_REGISTER ( ( uint16_t ) 0xff56 )
#define portTIMER_INTERRUPT_ENABLE ( ( uint16_t ) 0x2000 ) #define portTIMER_INTERRUPT_ENABLE ( ( uint16_t ) 0x2000 )
/* Setup the hardware to generate the required tick frequency. */ /* Setup the hardware to generate the required tick frequency. */
static void prvSetTickFrequency( uint32_t ulTickRateHz ); static void prvSetTickFrequency( uint32_t ulTickRateHz );
@ -67,15 +67,17 @@ static void prvSetTickFrequency( uint32_t ulTickRateHz );
static void prvExitFunction( void ); static void prvExitFunction( void );
/* The ISR used depends on whether the preemptive or cooperative scheduler /* The ISR used depends on whether the preemptive or cooperative scheduler
is being used. */ * is being used. */
#if( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
/* Tick service routine used by the scheduler when preemptive scheduling is
being used. */ /* Tick service routine used by the scheduler when preemptive scheduling is
static void __interrupt __far prvPreemptiveTick( void ); * being used. */
static void __interrupt __far prvPreemptiveTick( void );
#else #else
/* Tick service routine used by the scheduler when cooperative scheduling is
being used. */ /* Tick service routine used by the scheduler when cooperative scheduling is
static void __interrupt __far prvNonPreemptiveTick( void ); * being used. */
static void __interrupt __far prvNonPreemptiveTick( void );
#endif #endif
/* Trap routine used by taskYIELD() to manually cause a context switch. */ /* Trap routine used by taskYIELD() to manually cause a context switch. */
@ -87,9 +89,9 @@ static void __interrupt __far prvYieldProcessor( void );
static BaseType_t xSchedulerRunning = pdFALSE; static BaseType_t xSchedulerRunning = pdFALSE;
/* Points to the original routine installed on the vector we use for manual /* Points to the original routine installed on the vector we use for manual
context switches. This is then used to restore the original routine during * context switches. This is then used to restore the original routine during
prvExitFunction(). */ * prvExitFunction(). */
static void ( __interrupt __far *pxOldSwitchISR )(); static void( __interrupt __far * pxOldSwitchISR )();
/* Used to restore the original DOS context when the scheduler is ended. */ /* Used to restore the original DOS context when the scheduler is ended. */
static jmp_buf xJumpBuf; static jmp_buf xJumpBuf;
@ -99,145 +101,145 @@ static jmp_buf xJumpBuf;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
/* This is called with interrupts already disabled. */ /* This is called with interrupts already disabled. */
/* Remember what was on the interrupts we are going to use /* Remember what was on the interrupts we are going to use
so we can put them back later if required. */ * so we can put them back later if required. */
pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER ); pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER );
/* Put our manual switch (yield) function on a known /* Put our manual switch (yield) function on a known
vector. */ * vector. */
_dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor ); _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor );
#if( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
{ {
/* Put our tick switch function on the timer interrupt. */ /* Put our tick switch function on the timer interrupt. */
_dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick ); _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick );
} }
#else #else
{ {
/* We want the timer interrupt to just increment the tick count. */ /* We want the timer interrupt to just increment the tick count. */
_dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick ); _dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick );
} }
#endif #endif
prvSetTickFrequency( configTICK_RATE_HZ ); prvSetTickFrequency( configTICK_RATE_HZ );
/* Clean up function if we want to return to DOS. */ /* Clean up function if we want to return to DOS. */
if( setjmp( xJumpBuf ) != 0 ) if( setjmp( xJumpBuf ) != 0 )
{ {
prvExitFunction(); prvExitFunction();
xSchedulerRunning = pdFALSE; xSchedulerRunning = pdFALSE;
} }
else else
{ {
xSchedulerRunning = pdTRUE; xSchedulerRunning = pdTRUE;
/* Kick off the scheduler by setting up the context of the first task. */ /* Kick off the scheduler by setting up the context of the first task. */
portFIRST_CONTEXT(); portFIRST_CONTEXT();
} }
return xSchedulerRunning; return xSchedulerRunning;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* The ISR used depends on whether the preemptive or cooperative scheduler /* The ISR used depends on whether the preemptive or cooperative scheduler
is being used. */ * is being used. */
#if( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
static void __interrupt __far prvPreemptiveTick( void ) static void __interrupt __far prvPreemptiveTick( void )
{ {
/* Get the scheduler to update the task states following the tick. */ /* Get the scheduler to update the task states following the tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
/* Switch in the context of the next task to be run. */ /* Switch in the context of the next task to be run. */
portSWITCH_CONTEXT(); portSWITCH_CONTEXT();
} }
/* Reset the PIC ready for the next time. */ /* Reset the PIC ready for the next time. */
portRESET_PIC(); portRESET_PIC();
} }
#else #else /* if ( configUSE_PREEMPTION == 1 ) */
static void __interrupt __far prvNonPreemptiveTick( void ) static void __interrupt __far prvNonPreemptiveTick( void )
{ {
/* Same as preemptive tick, but the cooperative scheduler is being used /* Same as preemptive tick, but the cooperative scheduler is being used
so we don't have to switch in the context of the next task. */ * so we don't have to switch in the context of the next task. */
xTaskIncrementTick(); xTaskIncrementTick();
portRESET_PIC(); portRESET_PIC();
} }
#endif #endif /* if ( configUSE_PREEMPTION == 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void __interrupt __far prvYieldProcessor( void ) static void __interrupt __far prvYieldProcessor( void )
{ {
/* Switch in the context of the next task to be run. */ /* Switch in the context of the next task to be run. */
portSWITCH_CONTEXT(); portSWITCH_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Jump back to the processor state prior to starting the /* Jump back to the processor state prior to starting the
scheduler. This means we are not going to be using a * scheduler. This means we are not going to be using a
task stack frame so the task can be deleted. */ * task stack frame so the task can be deleted. */
longjmp( xJumpBuf, 1 ); longjmp( xJumpBuf, 1 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvExitFunction( void ) static void prvExitFunction( void )
{ {
const uint16_t usTimerDisable = 0x0000; const uint16_t usTimerDisable = 0x0000;
uint16_t usTimer0Control; uint16_t usTimer0Control;
/* Interrupts should be disabled here anyway - but no /* Interrupts should be disabled here anyway - but no
harm in making sure. */ * harm in making sure. */
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
if( xSchedulerRunning == pdTRUE )
{
/* Put back the switch interrupt routines that was in place
before the scheduler started. */
_dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR );
}
/* Disable the timer used for the tick to ensure the scheduler is if( xSchedulerRunning == pdTRUE )
not called before restoring interrupts. There was previously nothing {
on this timer so there is no old ISR to restore. */ /* Put back the switch interrupt routines that was in place
portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerDisable ); * before the scheduler started. */
_dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR );
}
/* Restart the DOS tick. */ /* Disable the timer used for the tick to ensure the scheduler is
usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER ); * not called before restoring interrupts. There was previously nothing
usTimer0Control |= portTIMER_INTERRUPT_ENABLE; * on this timer so there is no old ISR to restore. */
portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control ); portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerDisable );
/* Restart the DOS tick. */
usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER );
usTimer0Control |= portTIMER_INTERRUPT_ENABLE;
portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control );
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetTickFrequency( uint32_t ulTickRateHz ) static void prvSetTickFrequency( uint32_t ulTickRateHz )
{ {
const uint16_t usMaxCountRegister = 0xff5a; const uint16_t usMaxCountRegister = 0xff5a;
const uint16_t usTimerPriorityRegister = 0xff32; const uint16_t usTimerPriorityRegister = 0xff32;
const uint16_t usTimerEnable = 0xC000; const uint16_t usTimerEnable = 0xC000;
const uint16_t usRetrigger = 0x0001; const uint16_t usRetrigger = 0x0001;
const uint16_t usTimerHighPriority = 0x0000; const uint16_t usTimerHighPriority = 0x0000;
uint16_t usTimer0Control; uint16_t usTimer0Control;
/* ( CPU frequency / 4 ) / clock 2 max count [inpw( 0xff62 ) = 7] */ /* ( CPU frequency / 4 ) / clock 2 max count [inpw( 0xff62 ) = 7] */
const uint32_t ulClockFrequency = ( uint32_t ) 0x7f31a0UL; const uint32_t ulClockFrequency = ( uint32_t ) 0x7f31a0UL;
uint32_t ulTimerCount = ulClockFrequency / ulTickRateHz; uint32_t ulTimerCount = ulClockFrequency / ulTickRateHz;
portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerEnable | portTIMER_INTERRUPT_ENABLE | usRetrigger ); portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerEnable | portTIMER_INTERRUPT_ENABLE | usRetrigger );
portOUTPUT_WORD( usMaxCountRegister, ( uint16_t ) ulTimerCount ); portOUTPUT_WORD( usMaxCountRegister, ( uint16_t ) ulTimerCount );
portOUTPUT_WORD( usTimerPriorityRegister, usTimerHighPriority ); portOUTPUT_WORD( usTimerPriorityRegister, usTimerHighPriority );
/* Stop the DOS tick - don't do this if you want to maintain a TOD clock. */ /* Stop the DOS tick - don't do this if you want to maintain a TOD clock. */
usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER ); usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER );
usTimer0Control &= ~portTIMER_INTERRUPT_ENABLE; usTimer0Control &= ~portTIMER_INTERRUPT_ENABLE;
portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control ); portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control );
} }
/*lint +e950 */ /*lint +e950 */

68
portable/BCC/16BitDOS/Flsh186/prtmacro.h
View file

@ -38,59 +38,59 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE long #define portDOUBLE long
#define portLONG long #define portLONG long
#define portSHORT int #define portSHORT int
#define portSTACK_TYPE uint16_t #define portSTACK_TYPE uint16_t
#define portBASE_TYPE portSHORT #define portBASE_TYPE portSHORT
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef short BaseType_t; typedef short BaseType_t;
typedef unsigned short UBaseType_t; typedef unsigned short UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section handling. */ /* Critical section handling. */
#define portENTER_CRITICAL() __asm{ pushf } \ #define portENTER_CRITICAL() \
__asm{ cli } \ __asm{ pushf } \
__asm{ cli } \
#define portEXIT_CRITICAL() __asm{ popf } #define portEXIT_CRITICAL() __asm{ popf }
#define portDISABLE_INTERRUPTS() __asm{ cli } #define portDISABLE_INTERRUPTS() __asm{ cli }
#define portENABLE_INTERRUPTS() __asm{ sti } #define portENABLE_INTERRUPTS() __asm{ sti }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portNOP() __asm{ nop } #define portNOP() __asm{ nop }
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portSWITCH_INT_NUMBER 0x80 #define portSWITCH_INT_NUMBER 0x80
#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } #define portYIELD() __asm{ int portSWITCH_INT_NUMBER }
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 2 #define portBYTE_ALIGNMENT 2
#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ #define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Compiler specifics. */ /* Compiler specifics. */
#define portINPUT_BYTE( xAddr ) inp( xAddr ) #define portINPUT_BYTE( xAddr ) inp( xAddr )
#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) #define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue )
#define portINPUT_WORD( xAddr ) inpw( xAddr ) #define portINPUT_WORD( xAddr ) inpw( xAddr )
#define portOUTPUT_WORD( xAddr, usValue ) outpw( xAddr, usValue ) #define portOUTPUT_WORD( xAddr, usValue ) outpw( xAddr, usValue )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vTaskFunction, vParameters ) void vTaskFunction( void * pvParameters )
#define portTASK_FUNCTION( vTaskFunction, vParameters ) void vTaskFunction( void *pvParameters ) #define portTASK_FUNCTION( vTaskFunction, vParameters ) void vTaskFunction( void * pvParameters )
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

318
portable/BCC/16BitDOS/PC/port.c
View file

@ -25,16 +25,16 @@
*/ */
/* /*
Changes from V2.6.1 * Changes from V2.6.1
*
+ Replaced the sUsingPreemption variable with the configUSE_PREEMPTION + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION
macro to be consistent with the later ports. + macro to be consistent with the later ports.
+
Changes from V4.0.1 + Changes from V4.0.1
+
+ Add function prvSetTickFrequencyDefault() to set the DOS tick back to + Add function prvSetTickFrequencyDefault() to set the DOS tick back to
its proper value when the scheduler exits. + its proper value when the scheduler exits.
*/ */
#include <stdlib.h> #include <stdlib.h>
#include <dos.h> #include <dos.h>
@ -45,13 +45,13 @@ Changes from V4.0.1
#include "portasm.h" #include "portasm.h"
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the industrial * Implementation of functions defined in portable.h for the industrial
* PC port. * PC port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/*lint -e950 Non ANSI reserved words okay in this file only. */ /*lint -e950 Non ANSI reserved words okay in this file only. */
#define portTIMER_INT_NUMBER 0x08 #define portTIMER_INT_NUMBER 0x08
/* Setup hardware for required tick interrupt rate. */ /* Setup hardware for required tick interrupt rate. */
static void prvSetTickFrequency( uint32_t ulTickRateHz ); static void prvSetTickFrequency( uint32_t ulTickRateHz );
@ -60,42 +60,44 @@ static void prvSetTickFrequency( uint32_t ulTickRateHz );
static void prvExitFunction( void ); static void prvExitFunction( void );
/* Either chain to the DOS tick (which itself clears the PIC) or clear the PIC /* Either chain to the DOS tick (which itself clears the PIC) or clear the PIC
directly. We chain to the DOS tick as close as possible to the standard DOS * directly. We chain to the DOS tick as close as possible to the standard DOS
tick rate. */ * tick rate. */
static void prvPortResetPIC( void ); static void prvPortResetPIC( void );
/* The ISR used depends on whether the preemptive or cooperative /* The ISR used depends on whether the preemptive or cooperative
scheduler is being used. */ * scheduler is being used. */
#if( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
/* Tick service routine used by the scheduler when preemptive scheduling is
being used. */ /* Tick service routine used by the scheduler when preemptive scheduling is
static void __interrupt __far prvPreemptiveTick( void ); * being used. */
static void __interrupt __far prvPreemptiveTick( void );
#else #else
/* Tick service routine used by the scheduler when cooperative scheduling is
being used. */ /* Tick service routine used by the scheduler when cooperative scheduling is
static void __interrupt __far prvNonPreemptiveTick( void ); * being used. */
static void __interrupt __far prvNonPreemptiveTick( void );
#endif #endif
/* Trap routine used by taskYIELD() to manually cause a context switch. */ /* Trap routine used by taskYIELD() to manually cause a context switch. */
static void __interrupt __far prvYieldProcessor( void ); static void __interrupt __far prvYieldProcessor( void );
/* Set the tick frequency back so the floppy drive works correctly when the /* Set the tick frequency back so the floppy drive works correctly when the
scheduler exits. */ * scheduler exits. */
static void prvSetTickFrequencyDefault( void ); static void prvSetTickFrequencyDefault( void );
/*lint -e956 File scopes necessary here. */ /*lint -e956 File scopes necessary here. */
/* Used to signal when to chain to the DOS tick, and when to just clear the PIC ourselves. */ /* Used to signal when to chain to the DOS tick, and when to just clear the PIC ourselves. */
static int16_t sDOSTickCounter; static int16_t sDOSTickCounter;
/* Set true when the vectors are set so the scheduler will service the tick. */ /* Set true when the vectors are set so the scheduler will service the tick. */
static BaseType_t xSchedulerRunning = pdFALSE; static BaseType_t xSchedulerRunning = pdFALSE;
/* Points to the original routine installed on the vector we use for manual context switches. This is then used to restore the original routine during prvExitFunction(). */ /* Points to the original routine installed on the vector we use for manual context switches. This is then used to restore the original routine during prvExitFunction(). */
static void ( __interrupt __far *pxOldSwitchISR )(); static void( __interrupt __far * pxOldSwitchISR )();
/* Points to the original routine installed on the vector we use to chain to the DOS tick. This is then used to restore the original routine during prvExitFunction(). */ /* Points to the original routine installed on the vector we use to chain to the DOS tick. This is then used to restore the original routine during prvExitFunction(). */
static void ( __interrupt __far *pxOldSwitchISRPlus1 )(); static void( __interrupt __far * pxOldSwitchISRPlus1 )();
/* Used to restore the original DOS context when the scheduler is ended. */ /* Used to restore the original DOS context when the scheduler is ended. */
static jmp_buf xJumpBuf; static jmp_buf xJumpBuf;
@ -105,183 +107,187 @@ static jmp_buf xJumpBuf;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
pxISR pxOriginalTickISR; pxISR pxOriginalTickISR;
/* This is called with interrupts already disabled. */
/* Remember what was on the interrupts we are going to use /* This is called with interrupts already disabled. */
so we can put them back later if required. */
pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER );
pxOriginalTickISR = _dos_getvect( portTIMER_INT_NUMBER );
pxOldSwitchISRPlus1 = _dos_getvect( portSWITCH_INT_NUMBER + 1 );
prvSetTickFrequency( configTICK_RATE_HZ ); /* Remember what was on the interrupts we are going to use
* so we can put them back later if required. */
pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER );
pxOriginalTickISR = _dos_getvect( portTIMER_INT_NUMBER );
pxOldSwitchISRPlus1 = _dos_getvect( portSWITCH_INT_NUMBER + 1 );
/* Put our manual switch (yield) function on a known prvSetTickFrequency( configTICK_RATE_HZ );
vector. */
_dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor );
/* Put the old tick on a different interrupt number so we can /* Put our manual switch (yield) function on a known
call it when we want. */ * vector. */
_dos_setvect( portSWITCH_INT_NUMBER + 1, pxOriginalTickISR ); _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor );
/* The ISR used depends on whether the preemptive or cooperative /* Put the old tick on a different interrupt number so we can
scheduler is being used. */ * call it when we want. */
#if( configUSE_PREEMPTION == 1 ) _dos_setvect( portSWITCH_INT_NUMBER + 1, pxOriginalTickISR );
{
/* Put our tick switch function on the timer interrupt. */ /* The ISR used depends on whether the preemptive or cooperative
_dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick ); * scheduler is being used. */
} #if ( configUSE_PREEMPTION == 1 )
#else {
{ /* Put our tick switch function on the timer interrupt. */
/* We want the timer interrupt to just increment the tick count. */ _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick );
_dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick ); }
} #else
{
/* We want the timer interrupt to just increment the tick count. */
_dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick );
}
#endif #endif
/* Setup a counter that is used to call the DOS interrupt as close /* Setup a counter that is used to call the DOS interrupt as close
to it's original frequency as can be achieved given our chosen tick * to it's original frequency as can be achieved given our chosen tick
frequency. */ * frequency. */
sDOSTickCounter = portTICKS_PER_DOS_TICK; sDOSTickCounter = portTICKS_PER_DOS_TICK;
/* Clean up function if we want to return to DOS. */ /* Clean up function if we want to return to DOS. */
if( setjmp( xJumpBuf ) != 0 ) if( setjmp( xJumpBuf ) != 0 )
{ {
prvExitFunction(); prvExitFunction();
xSchedulerRunning = pdFALSE; xSchedulerRunning = pdFALSE;
} }
else else
{ {
xSchedulerRunning = pdTRUE; xSchedulerRunning = pdTRUE;
/* Kick off the scheduler by setting up the context of the first task. */ /* Kick off the scheduler by setting up the context of the first task. */
portFIRST_CONTEXT(); portFIRST_CONTEXT();
} }
return xSchedulerRunning; return xSchedulerRunning;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* The ISR used depends on whether the preemptive or cooperative /* The ISR used depends on whether the preemptive or cooperative
scheduler is being used. */ * scheduler is being used. */
#if( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
static void __interrupt __far prvPreemptiveTick( void ) static void __interrupt __far prvPreemptiveTick( void )
{ {
/* Get the scheduler to update the task states following the tick. */ /* Get the scheduler to update the task states following the tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
/* Switch in the context of the next task to be run. */ /* Switch in the context of the next task to be run. */
portSWITCH_CONTEXT(); portSWITCH_CONTEXT();
} }
/* Reset the PIC ready for the next time. */ /* Reset the PIC ready for the next time. */
prvPortResetPIC(); prvPortResetPIC();
} }
#else #else /* if ( configUSE_PREEMPTION == 1 ) */
static void __interrupt __far prvNonPreemptiveTick( void ) static void __interrupt __far prvNonPreemptiveTick( void )
{ {
/* Same as preemptive tick, but the cooperative scheduler is being used /* Same as preemptive tick, but the cooperative scheduler is being used
so we don't have to switch in the context of the next task. */ * so we don't have to switch in the context of the next task. */
xTaskIncrementTick(); xTaskIncrementTick();
prvPortResetPIC(); prvPortResetPIC();
} }
#endif #endif /* if ( configUSE_PREEMPTION == 1 ) */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void __interrupt __far prvYieldProcessor( void ) static void __interrupt __far prvYieldProcessor( void )
{ {
/* Switch in the context of the next task to be run. */ /* Switch in the context of the next task to be run. */
portSWITCH_CONTEXT(); portSWITCH_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvPortResetPIC( void ) static void prvPortResetPIC( void )
{ {
/* We are going to call the DOS tick interrupt at as close a /* We are going to call the DOS tick interrupt at as close a
frequency to the normal DOS tick as possible. */ * frequency to the normal DOS tick as possible. */
/* WE SHOULD NOT DO THIS IF YIELD WAS CALLED. */ /* WE SHOULD NOT DO THIS IF YIELD WAS CALLED. */
--sDOSTickCounter; --sDOSTickCounter;
if( sDOSTickCounter <= 0 )
{ if( sDOSTickCounter <= 0 )
sDOSTickCounter = ( int16_t ) portTICKS_PER_DOS_TICK; {
__asm{ int portSWITCH_INT_NUMBER + 1 }; sDOSTickCounter = ( int16_t ) portTICKS_PER_DOS_TICK;
} __asm {
else int portSWITCH_INT_NUMBER + 1
{ };
/* Reset the PIC as the DOS tick is not being called to }
do it. */ else
__asm {
{ /* Reset the PIC as the DOS tick is not being called to
mov al, 20H * do it. */
out 20H, al __asm
}; {
} mov al, 20H
out 20H, al
};
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Jump back to the processor state prior to starting the /* Jump back to the processor state prior to starting the
scheduler. This means we are not going to be using a * scheduler. This means we are not going to be using a
task stack frame so the task can be deleted. */ * task stack frame so the task can be deleted. */
longjmp( xJumpBuf, 1 ); longjmp( xJumpBuf, 1 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvExitFunction( void ) static void prvExitFunction( void )
{ {
void ( __interrupt __far *pxOriginalTickISR )(); void( __interrupt __far * pxOriginalTickISR )();
/* Interrupts should be disabled here anyway - but no /* Interrupts should be disabled here anyway - but no
harm in making sure. */ * harm in making sure. */
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
if( xSchedulerRunning == pdTRUE )
{
/* Set the DOS tick back onto the timer ticker. */
pxOriginalTickISR = _dos_getvect( portSWITCH_INT_NUMBER + 1 );
_dos_setvect( portTIMER_INT_NUMBER, pxOriginalTickISR );
prvSetTickFrequencyDefault();
/* Put back the switch interrupt routines that was in place if( xSchedulerRunning == pdTRUE )
before the scheduler started. */ {
_dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR ); /* Set the DOS tick back onto the timer ticker. */
_dos_setvect( portSWITCH_INT_NUMBER + 1, pxOldSwitchISRPlus1 ); pxOriginalTickISR = _dos_getvect( portSWITCH_INT_NUMBER + 1 );
} _dos_setvect( portTIMER_INT_NUMBER, pxOriginalTickISR );
/* The tick timer is back how DOS wants it. We can re-enable prvSetTickFrequencyDefault();
interrupts without the scheduler being called. */
portENABLE_INTERRUPTS(); /* Put back the switch interrupt routines that was in place
* before the scheduler started. */
_dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR );
_dos_setvect( portSWITCH_INT_NUMBER + 1, pxOldSwitchISRPlus1 );
}
/* The tick timer is back how DOS wants it. We can re-enable
* interrupts without the scheduler being called. */
portENABLE_INTERRUPTS();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetTickFrequency( uint32_t ulTickRateHz ) static void prvSetTickFrequency( uint32_t ulTickRateHz )
{ {
const uint16_t usPIT_MODE = ( uint16_t ) 0x43; const uint16_t usPIT_MODE = ( uint16_t ) 0x43;
const uint16_t usPIT0 = ( uint16_t ) 0x40; const uint16_t usPIT0 = ( uint16_t ) 0x40;
const uint32_t ulPIT_CONST = ( uint32_t ) 1193180UL; const uint32_t ulPIT_CONST = ( uint32_t ) 1193180UL;
const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36; const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36;
uint32_t ulOutput; uint32_t ulOutput;
/* Setup the 8245 to tick at the wanted frequency. */ /* Setup the 8245 to tick at the wanted frequency. */
portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 ); portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 );
ulOutput = ulPIT_CONST / ulTickRateHz; ulOutput = ulPIT_CONST / ulTickRateHz;
portOUTPUT_BYTE( usPIT0, ( uint16_t )( ulOutput & ( uint32_t ) 0xff ) ); portOUTPUT_BYTE( usPIT0, ( uint16_t ) ( ulOutput & ( uint32_t ) 0xff ) );
ulOutput >>= 8; ulOutput >>= 8;
portOUTPUT_BYTE( usPIT0, ( uint16_t ) ( ulOutput & ( uint32_t ) 0xff ) ); portOUTPUT_BYTE( usPIT0, ( uint16_t ) ( ulOutput & ( uint32_t ) 0xff ) );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetTickFrequencyDefault( void ) static void prvSetTickFrequencyDefault( void )
{ {
const uint16_t usPIT_MODE = ( uint16_t ) 0x43; const uint16_t usPIT_MODE = ( uint16_t ) 0x43;
const uint16_t usPIT0 = ( uint16_t ) 0x40; const uint16_t usPIT0 = ( uint16_t ) 0x40;
const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36; const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36;
portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 ); portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 );
portOUTPUT_BYTE( usPIT0,0 ); portOUTPUT_BYTE( usPIT0, 0 );
portOUTPUT_BYTE( usPIT0,0 ); portOUTPUT_BYTE( usPIT0, 0 );
} }
/*lint +e950 */ /*lint +e950 */

68
portable/BCC/16BitDOS/PC/prtmacro.h
View file

@ -38,59 +38,59 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT long #define portFLOAT long
#define portDOUBLE long #define portDOUBLE long
#define portLONG long #define portLONG long
#define portSHORT int #define portSHORT int
#define portSTACK_TYPE uint16_t #define portSTACK_TYPE uint16_t
#define portBASE_TYPE portSHORT #define portBASE_TYPE portSHORT
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef short BaseType_t; typedef short BaseType_t;
typedef unsigned short UBaseType_t; typedef unsigned short UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section management. */ /* Critical section management. */
#define portENTER_CRITICAL() __asm{ pushf } \ #define portENTER_CRITICAL() \
__asm{ cli } \ __asm{ pushf } \
__asm{ cli } \
#define portEXIT_CRITICAL() __asm{ popf } #define portEXIT_CRITICAL() __asm{ popf }
#define portDISABLE_INTERRUPTS() __asm{ cli } #define portDISABLE_INTERRUPTS() __asm{ cli }
#define portENABLE_INTERRUPTS() __asm{ sti } #define portENABLE_INTERRUPTS() __asm{ sti }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portNOP() __asm{ nop } #define portNOP() __asm{ nop }
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portSWITCH_INT_NUMBER 0x80 #define portSWITCH_INT_NUMBER 0x80
#define portYIELD() __asm{ int portSWITCH_INT_NUMBER } #define portYIELD() __asm{ int portSWITCH_INT_NUMBER }
#define portDOS_TICK_RATE ( 18.20648 ) #define portDOS_TICK_RATE ( 18.20648 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portTICKS_PER_DOS_TICK ( ( uint16_t ) ( ( ( portDOUBLE ) configTICK_RATE_HZ / portDOS_TICK_RATE ) + 0.5 ) ) #define portTICKS_PER_DOS_TICK ( ( uint16_t ) ( ( ( portDOUBLE ) configTICK_RATE_HZ / portDOS_TICK_RATE ) + 0.5 ) )
#define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */ #define portINITIAL_SW ( ( portSTACK_TYPE ) 0x0202 ) /* Start the tasks with interrupts enabled. */
#define portBYTE_ALIGNMENT ( 2 ) #define portBYTE_ALIGNMENT ( 2 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Compiler specifics. */ /* Compiler specifics. */
#define portINPUT_BYTE( xAddr ) inp( xAddr ) #define portINPUT_BYTE( xAddr ) inp( xAddr )
#define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue ) #define portOUTPUT_BYTE( xAddr, ucValue ) outp( xAddr, ucValue )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vTaskFunction, pvParameters ) void vTaskFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vTaskFunction, pvParameters ) void vTaskFunction( void * pvParameters )
#define portTASK_FUNCTION( vTaskFunction, pvParameters ) void vTaskFunction( void *pvParameters ) #define portTASK_FUNCTION( vTaskFunction, pvParameters ) void vTaskFunction( void * pvParameters )
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

67
portable/BCC/16BitDOS/common/portasm.h
View file

@ -46,41 +46,40 @@ void portSWITCH_CONTEXT( void );
void portFIRST_CONTEXT( void ); void portFIRST_CONTEXT( void );
/* There are slightly different versions depending on whether you are building /* There are slightly different versions depending on whether you are building
to include debugger information. If debugger information is used then there * to include debugger information. If debugger information is used then there
are a couple of extra bytes left of the ISR stack (presumably for use by the * are a couple of extra bytes left of the ISR stack (presumably for use by the
debugger). The true stack pointer is then stored in the bp register. We add * debugger). The true stack pointer is then stored in the bp register. We add
2 to the stack pointer to remove the extra bytes before we restore our context. */ * 2 to the stack pointer to remove the extra bytes before we restore our context. */
#define portSWITCH_CONTEXT() \ #define portSWITCH_CONTEXT() \
asm { mov ax, seg pxCurrentTCB } \ asm { mov ax, seg pxCurrentTCB } \
asm { mov ds, ax } \ asm { mov ds, ax } \
asm { les bx, pxCurrentTCB } /* Save the stack pointer into the TCB. */ \ asm { les bx, pxCurrentTCB } /* Save the stack pointer into the TCB. */ \
asm { mov es:0x2[ bx ], ss } \ asm { mov es : 0x2[ bx ], ss } \
asm { mov es:[ bx ], sp } \ asm { mov es:[ bx ], sp } \
asm { call far ptr vTaskSwitchContext } /* Perform the switch. */ \ asm { call far ptr vTaskSwitchContext } /* Perform the switch. */ \
asm { mov ax, seg pxCurrentTCB } /* Restore the stack pointer from the TCB. */ \ asm { mov ax, seg pxCurrentTCB } /* Restore the stack pointer from the TCB. */ \
asm { mov ds, ax } \ asm { mov ds, ax } \
asm { les bx, dword ptr pxCurrentTCB } \ asm { les bx, dword ptr pxCurrentTCB } \
asm { mov ss, es:[ bx + 2 ] } \ asm { mov ss, es:[ bx + 2 ] } \
asm { mov sp, es:[ bx ] } asm { mov sp, es:[ bx ] }
#define portFIRST_CONTEXT() \ #define portFIRST_CONTEXT() \
__asm { mov ax, seg pxCurrentTCB } \ __asm { mov ax, seg pxCurrentTCB } \
__asm { mov ds, ax } \ __asm { mov ds, ax } \
__asm { les bx, dword ptr pxCurrentTCB } \ __asm { les bx, dword ptr pxCurrentTCB } \
__asm { mov ss, es:[ bx + 2 ] } \ __asm { mov ss, es:[ bx + 2 ] } \
__asm { mov sp, es:[ bx ] } \ __asm { mov sp, es:[ bx ] } \
__asm { pop bp } \ __asm { pop bp } \
__asm { pop di } \ __asm { pop di } \
__asm { pop si } \ __asm { pop si } \
__asm { pop ds } \ __asm { pop ds } \
__asm { pop es } \ __asm { pop es } \
__asm { pop dx } \ __asm { pop dx } \
__asm { pop cx } \ __asm { pop cx } \
__asm { pop bx } \ __asm { pop bx } \
__asm { pop ax } \ __asm { pop ax } \
__asm { iret } __asm { iret }
#endif #endif /* ifndef PORT_ASM_H */

141
portable/BCC/16BitDOS/common/portcomn.c
View file

@ -25,16 +25,16 @@
*/ */
/* /*
Changes from V1.00: * Changes from V1.00:
*
+ pxPortInitialiseStack() now initialises the stack of new tasks to the + pxPortInitialiseStack() now initialises the stack of new tasks to the
same format used by the compiler. This allows the compiler generated + same format used by the compiler. This allows the compiler generated
interrupt mechanism to be used for context switches. + interrupt mechanism to be used for context switches.
+
Changes from V2.6.1 + Changes from V2.6.1
+
+ Move usPortCheckFreeStackSpace() to tasks.c. + Move usPortCheckFreeStackSpace() to tasks.c.
*/ */
#include <dos.h> #include <dos.h>
@ -44,76 +44,79 @@ Changes from V2.6.1
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* See header file for description. */ /* See header file for description. */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t DS_Reg = 0; StackType_t DS_Reg = 0;
/* Place a few bytes of known values on the bottom of the stack. /* Place a few bytes of known values on the bottom of the stack.
This is just useful for debugging. */ * This is just useful for debugging. */
*pxTopOfStack = 0x1111; *pxTopOfStack = 0x1111;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2222; *pxTopOfStack = 0x2222;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x3333; *pxTopOfStack = 0x3333;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x4444; *pxTopOfStack = 0x4444;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x5555; *pxTopOfStack = 0x5555;
pxTopOfStack--; pxTopOfStack--;
/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
/* We are going to start the scheduler using a return from interrupt /* We are going to start the scheduler using a return from interrupt
instruction to load the program counter, so first there would be the * instruction to load the program counter, so first there would be the
function call with parameters preamble. */ * function call with parameters preamble. */
*pxTopOfStack = FP_SEG( pvParameters );
pxTopOfStack--;
*pxTopOfStack = FP_OFF( pvParameters );
pxTopOfStack--;
*pxTopOfStack = FP_SEG( pxCode );
pxTopOfStack--;
*pxTopOfStack = FP_OFF( pxCode );
pxTopOfStack--;
/* Next the status register and interrupt return address. */ *pxTopOfStack = FP_SEG( pvParameters );
*pxTopOfStack = portINITIAL_SW; pxTopOfStack--;
pxTopOfStack--; *pxTopOfStack = FP_OFF( pvParameters );
*pxTopOfStack = FP_SEG( pxCode ); pxTopOfStack--;
pxTopOfStack--; *pxTopOfStack = FP_SEG( pxCode );
*pxTopOfStack = FP_OFF( pxCode ); pxTopOfStack--;
pxTopOfStack--; *pxTopOfStack = FP_OFF( pxCode );
pxTopOfStack--;
/* The remaining registers would be pushed on the stack by our context /* Next the status register and interrupt return address. */
switch function. These are loaded with values simply to make debugging *pxTopOfStack = portINITIAL_SW;
easier. */ pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xAAAA; /* AX */ *pxTopOfStack = FP_SEG( pxCode );
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xBBBB; /* BX */ *pxTopOfStack = FP_OFF( pxCode );
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xCCCC; /* CX */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xDDDD; /* DX */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xEEEE; /* ES */
pxTopOfStack--;
/* We need the true data segment. */ /* The remaining registers would be pushed on the stack by our context
__asm{ MOV DS_Reg, DS }; * switch function. These are loaded with values simply to make debugging
* easier. */
*pxTopOfStack = ( StackType_t ) 0xAAAA; /* AX */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xBBBB; /* BX */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xCCCC; /* CX */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xDDDD; /* DX */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xEEEE; /* ES */
pxTopOfStack--;
*pxTopOfStack = DS_Reg; /* DS */ /* We need the true data segment. */
pxTopOfStack--; __asm {
*pxTopOfStack = ( StackType_t ) 0x0123; /* SI */ MOV DS_Reg, DS
pxTopOfStack--; };
*pxTopOfStack = ( StackType_t ) 0xDDDD; /* DI */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xBBBB; /* BP */
/*lint +e950 +e611 +e923 */ *pxTopOfStack = DS_Reg; /* DS */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x0123; /* SI */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xDDDD; /* DI */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xBBBB; /* BP */
return pxTopOfStack; /*lint +e950 +e611 +e923 */
return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

783
portable/CCS/ARM_CM3/port.c
View file

@ -25,69 +25,70 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM CM4F port. * Implementation of functions defined in portable.h for the ARM CM4F port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) #if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
#endif #endif
#ifndef configSYSTICK_CLOCK_HZ #ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */ /* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else #else
/* The way the SysTick is clocked is not modified in case it is not the same
as the core. */ /* The way the SysTick is clocked is not modified in case it is not the same
#define portNVIC_SYSTICK_CLK_BIT ( 0 ) * as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif #endif
/* Constants required to manipulate the core. Registers first... */ /* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) #define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) #define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) #define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SYSPRI2_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */ /* ...then bits in the registers. */
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) #define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) #define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) #define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) #define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
/* Constants required to check the validity of an interrupt priority. */ /* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) #define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) #define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) ) #define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) )
#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) #define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) #define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )
#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) #define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )
#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) #define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )
#define portPRIGROUP_SHIFT ( 8UL ) #define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ /* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0xFFUL ) #define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to set up the initial stack. */ /* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 ) #define portINITIAL_XPSR ( 0x01000000 )
/* The systick is a 24-bit counter. */ /* The systick is a 24-bit counter. */
#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) #define portMAX_24_BIT_NUMBER ( 0xffffffUL )
/* A fiddle factor to estimate the number of SysTick counts that would have /* A fiddle factor to estimate the number of SysTick counts that would have
occurred while the SysTick counter is stopped during tickless idle * occurred while the SysTick counter is stopped during tickless idle
calculations. */ * calculations. */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 45UL )
/* For strict compliance with the Cortex-M spec the task start address should /* 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. */ * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) #define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
/* /*
* Setup the timer to generate the tick interrupts. The implementation in this * Setup the timer to generate the tick interrupts. The implementation in this
@ -114,34 +115,34 @@ static void prvTaskExitError( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY /* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY
setting. */ * setting. */
const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY; const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
/* Each task maintains its own interrupt status in the critical nesting /* Each task maintains its own interrupt status in the critical nesting
variable. */ * variable. */
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
/* /*
* The number of SysTick increments that make up one tick period. * The number of SysTick increments that make up one tick period.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulTimerCountsForOneTick = 0; static uint32_t ulTimerCountsForOneTick = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
* The maximum number of tick periods that can be suppressed is limited by the * The maximum number of tick periods that can be suppressed is limited by the
* 24 bit resolution of the SysTick timer. * 24 bit resolution of the SysTick timer.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t xMaximumPossibleSuppressedTicks = 0; static uint32_t xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low * Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only. * power functionality only.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulStoppedTimerCompensation = 0; static uint32_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
@ -150,9 +151,9 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
*/ */
#if ( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
static uint8_t ucMaxSysCallPriority = 0; static uint8_t ucMaxSysCallPriority = 0;
static uint32_t ulMaxPRIGROUPValue = 0; static uint32_t ulMaxPRIGROUPValue = 0;
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;
#endif /* configASSERT_DEFINED */ #endif /* configASSERT_DEFINED */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -164,40 +165,43 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode, TaskFunction_t pxCode,
void * pvParameters ) void * pvParameters )
{ {
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
interrupt. */ * interrupt. */
/* Offset added to account for the way the MCU uses the stack on entry/exit /* Offset added to account for the way the MCU uses the stack on entry/exit
of interrupts, and to ensure alignment. */ * of interrupts, and to ensure alignment. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */
/* Save code space by skipping register initialisation. */ /* Save code space by skipping register initialisation. */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvTaskExitError( void ) static void prvTaskExitError( void )
{ {
/* A function that implements a task must not exit or attempt to return to /* 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 * its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ). * 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();
Artificially force an assert() to be triggered if configASSERT() is for( ; ; )
defined, then stop here so application writers can catch the error. */ {
configASSERT( uxCriticalNesting == ~0UL ); }
portDISABLE_INTERRUPTS();
for( ;; );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -206,308 +210,312 @@ static void prvTaskExitError( void )
*/ */
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
{ {
volatile uint32_t ulOriginalPriority; volatile uint32_t ulOriginalPriority;
volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
volatile uint8_t ucMaxPriorityValue; volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API /* Determine the maximum priority from which ISR safe FreeRTOS API
functions can be called. ISR safe functions are those that end in * functions can be called. ISR safe functions are those that end in
"FromISR". FreeRTOS maintains separate thread and ISR API functions to * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
ensure interrupt entry is as fast and simple as possible. * ensure interrupt entry is as fast and simple as possible.
*
* Save the interrupt priority value that is about to be clobbered. */
ulOriginalPriority = *pucFirstUserPriorityRegister;
Save the interrupt priority value that is about to be clobbered. */ /* Determine the number of priority bits available. First write to all
ulOriginalPriority = *pucFirstUserPriorityRegister; * possible bits. */
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Determine the number of priority bits available. First write to all /* Read the value back to see how many bits stuck. */
possible bits. */ ucMaxPriorityValue = *pucFirstUserPriorityRegister;
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Read the value back to see how many bits stuck. */ /* Use the same mask on the maximum system call priority. */
ucMaxPriorityValue = *pucFirstUserPriorityRegister; ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
/* Use the same mask on the maximum system call priority. */ /* Calculate the maximum acceptable priority group value for the number
ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; * of bits read back. */
ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
/* Calculate the maximum acceptable priority group value for the number while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
of bits read back. */ {
ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; ulMaxPRIGROUPValue--;
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) ucMaxPriorityValue <<= ( uint8_t ) 0x01;
{ }
ulMaxPRIGROUPValue--;
ucMaxPriorityValue <<= ( uint8_t ) 0x01;
}
#ifdef __NVIC_PRIO_BITS #ifdef __NVIC_PRIO_BITS
{ {
/* Check the CMSIS configuration that defines the number of /* Check the CMSIS configuration that defines the number of
priority bits matches the number of priority bits actually queried * priority bits matches the number of priority bits actually queried
from the hardware. */ * from the hardware. */
configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
} }
#endif #endif
#ifdef configPRIO_BITS #ifdef configPRIO_BITS
{ {
/* Check the FreeRTOS configuration that defines the number of /* Check the FreeRTOS configuration that defines the number of
priority bits matches the number of priority bits actually queried * priority bits matches the number of priority bits actually queried
from the hardware. */ * from the hardware. */
configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS ); configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
} }
#endif #endif
/* Shift the priority group value back to its position within the AIRCR /* Shift the priority group value back to its position within the AIRCR
register. */ * register. */
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
/* Restore the clobbered interrupt priority register to its original /* Restore the clobbered interrupt priority register to its original
value. */ * value. */
*pucFirstUserPriorityRegister = ulOriginalPriority; *pucFirstUserPriorityRegister = ulOriginalPriority;
} }
#endif /* conifgASSERT_DEFINED */ #endif /* conifgASSERT_DEFINED */
/* Make PendSV and SysTick the lowest priority interrupts. */ /* Make PendSV and SysTick the lowest priority interrupts. */
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */ * here already. */
vPortSetupTimerInterrupt(); vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */ /* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0; uxCriticalNesting = 0;
/* Start the first task. */ /* Start the first task. */
vPortStartFirstTask(); vPortStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */ * Artificially force an assert. */
configASSERT( uxCriticalNesting == 1000UL ); configASSERT( uxCriticalNesting == 1000UL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
uxCriticalNesting++; uxCriticalNesting++;
/* This is not the interrupt safe version of the enter critical function so /* 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 * 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 * 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 * the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */ * assert function also uses a critical section. */
if( uxCriticalNesting == 1 ) if( uxCriticalNesting == 1 )
{ {
configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
configASSERT( uxCriticalNesting ); configASSERT( uxCriticalNesting );
uxCriticalNesting--; uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{ if( uxCriticalNesting == 0 )
portENABLE_INTERRUPTS(); {
} portENABLE_INTERRUPTS();
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void xPortSysTickHandler( void ) void xPortSysTickHandler( void )
{ {
/* The SysTick runs at the lowest interrupt priority, so when this interrupt /* The SysTick runs at the lowest interrupt priority, so when this interrupt
executes all interrupts must be unmasked. There is therefore no need to * 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 * save and then restore the interrupt mask value as its value is already
known. */ * known. */
( void ) portSET_INTERRUPT_MASK_FROM_ISR(); ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
{ {
/* Increment the RTOS tick. */ /* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
/* A context switch is required. Context switching is performed in /* A context switch is required. Context switching is performed in
the PendSV interrupt. Pend the PendSV interrupt. */ * the PendSV interrupt. Pend the PendSV interrupt. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
} }
} }
portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
#pragma WEAK( vPortSuppressTicksAndSleep ) #pragma WEAK( vPortSuppressTicksAndSleep )
void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
{ {
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for /* 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 * 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 * inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */ * kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime /* Calculate the reload value required to wait xExpectedIdleTime
tick periods. -1 is used because this code will execute part way * tick periods. -1 is used because this code will execute part way
through one of the tick periods. */ * through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); 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() if( ulReloadValue > ulStoppedTimerCompensation )
method as that will mask interrupts that should exit sleep mode. */ {
__asm( " cpsid i" ); ulReloadValue -= ulStoppedTimerCompensation;
__asm( " dsb" ); }
__asm( " isb" );
/* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */
__asm( " cpsid i");
__asm( " dsb");
__asm( " isb");
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
to be unsuspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Restart from whatever is left in the count register to complete
this tick period. */ * this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick /* Reset the reload register to the value required for normal tick
periods. */ * periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above __disable_interrupt() /* Re-enable interrupts - see comments above __disable_interrupt()
call above. */ * call above. */
__asm( " cpsie i" ); __asm( " cpsie i");
} }
else else
{ {
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Clear the SysTick count flag and set the count value back to /* Clear the SysTick count flag and set the count value back to
zero. */ * zero. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
set its parameter to 0 to indicate that its implementation contains * set its parameter to 0 to indicate that its implementation contains
its own wait for interrupt or wait for event instruction, and so wfi * its own wait for interrupt or wait for event instruction, and so wfi
should not be executed again. However, the original expected idle * should not be executed again. However, the original expected idle
time variable must remain unmodified, so a copy is taken. */ * time variable must remain unmodified, so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
if( xModifiableIdleTime > 0 )
{
__asm( " dsb" );
__asm( " wfi" );
__asm( " isb" );
}
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU if( xModifiableIdleTime > 0 )
out of sleep mode to execute immediately. see comments above {
__disable_interrupt() call above. */ __asm( " dsb");
__asm( " cpsie i" ); __asm( " wfi");
__asm( " dsb" ); __asm( " isb");
__asm( " isb" ); }
/* Disable interrupts again because the clock is about to be stopped configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
and interrupts that execute while the clock is stopped will increase
any slippage between the time maintained by the RTOS and calendar
time. */
__asm( " cpsid i" );
__asm( " dsb" );
__asm( " isb" );
/* Disable the SysTick clock without reading the /* Re-enable interrupts to allow the interrupt that brought the MCU
portNVIC_SYSTICK_CTRL_REG register to ensure the * out of sleep mode to execute immediately. see comments above
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, * __disable_interrupt() call above. */
the time the SysTick is stopped for is accounted for as best it can __asm( " cpsie i");
be, but using the tickless mode will inevitably result in some tiny __asm( " dsb");
drift of the time maintained by the kernel with respect to calendar __asm( " isb");
time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Disable interrupts again because the clock is about to be stopped
been set back to the current reload value (the reload back being * and interrupts that execute while the clock is stopped will increase
correct for the entire expected idle time) or if the SysTick is yet * any slippage between the time maintained by the RTOS and calendar
to count to zero (in which case an interrupt other than the SysTick * time. */
must have brought the system out of sleep mode). */ __asm( " cpsid i");
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) __asm( " dsb");
{ __asm( " isb");
uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* Disable the SysTick clock without reading the
reloaded with ulReloadValue. Reset the * portNVIC_SYSTICK_CTRL_REG register to ensure the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
period. */ * the time the SysTick is stopped for is accounted for as best it can
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); * 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 );
/* Don't allow a tiny value, or values that have somehow /* Determine if the SysTick clock has already counted to zero and
underflowed because the post sleep hook did something * been set back to the current reload value (the reload back being
that took too long. */ * correct for the entire expected idle time) or if the SysTick is yet
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * to count to zero (in which case an interrupt other than the SysTick
{ * must have brought the system out of sleep mode). */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
} {
uint32_t ulCalculatedLoadValue;
portNVIC_SYSTICK_LOAD_REG = 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 );
/* As the pending tick will be processed as soon as this /* Don't allow a tiny value, or values that have somehow
function exits, the tick value maintained by the tick is stepped * underflowed because the post sleep hook did something
forward by one less than the time spent waiting. */ * that took too long. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
} {
else ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
{ }
/* 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 portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
was waiting? */
ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
/* The reload value is set to whatever fraction of a single tick /* As the pending tick will be processed as soon as this
period remains. */ * function exits, the tick value maintained by the tick is stepped
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; * 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;
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* How many complete tick periods passed while the processor
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * was waiting? */
value. */ ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
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. */ /* The reload value is set to whatever fraction of a single tick
__asm( " cpsie i" ); * 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( " cpsie i");
}
}
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -519,102 +527,81 @@ void xPortSysTickHandler( void )
#pragma WEAK( vPortSetupTimerInterrupt ) #pragma WEAK( vPortSetupTimerInterrupt )
void vPortSetupTimerInterrupt( void ) void vPortSetupTimerInterrupt( void )
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and clear the SysTick. */ /* Stop and clear the SysTick. */
portNVIC_SYSTICK_CTRL_REG = 0UL; portNVIC_SYSTICK_CTRL_REG = 0UL;
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; 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 ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void ) void vPortValidateInterruptPriority( void )
{ {
extern uint32_t ulPortGetIPSR( void ); extern uint32_t ulPortGetIPSR( void );
uint32_t ulCurrentInterrupt; uint32_t ulCurrentInterrupt;
uint8_t ucCurrentPriority; uint8_t ucCurrentPriority;
ulCurrentInterrupt = ulPortGetIPSR(); ulCurrentInterrupt = ulPortGetIPSR();
/* Is the interrupt number a user defined interrupt? */ /* Is the interrupt number a user defined interrupt? */
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
{ {
/* Look up the interrupt's priority. */ /* Look up the interrupt's priority. */
ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
/* The following assertion will fail if a service routine (ISR) for /* The following assertion will fail if a service routine (ISR) for
an interrupt that has been assigned a priority above * an interrupt that has been assigned a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
function. ISR safe FreeRTOS API functions must *only* be called * function. ISR safe FreeRTOS API functions must *only* be called
from interrupts that have been assigned a priority at or below * from interrupts that have been assigned a priority at or below
configMAX_SYSCALL_INTERRUPT_PRIORITY. * 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 );
}
Numerically low interrupt priority numbers represent logically high /* Priority grouping: The interrupt controller (NVIC) allows the bits
interrupt priorities, therefore the priority of the interrupt must * that define each interrupt's priority to be split between bits that
be set to a value equal to or numerically *higher* than * define the interrupt's pre-emption priority bits and bits that define
configMAX_SYSCALL_INTERRUPT_PRIORITY. * the interrupt's sub-priority. For simplicity all bits must be defined
* to be pre-emption priority bits. The following assertion will fail if
Interrupts that use the FreeRTOS API must not be left at their * this is not the case (if some bits represent a sub-priority).
default priority of zero as that is the highest possible priority, *
which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, * If the application only uses CMSIS libraries for interrupt
and therefore also guaranteed to be invalid. * configuration then the correct setting can be achieved on all Cortex-M
* devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
FreeRTOS maintains separate thread and ISR API functions to ensure * scheduler. Note however that some vendor specific peripheral libraries
interrupt entry is as fast and simple as possible. * assume a non-zero priority group setting, in which cases using a value
* of zero will result in unpredictable behaviour. */
The following links provide detailed information: configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
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 */ #endif /* configASSERT_DEFINED */

165
portable/CCS/ARM_CM3/portmacro.h
View file

@ -26,11 +26,11 @@
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -43,128 +43,127 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Compiler directives. */ /* Compiler directives. */
#define portWEAK_SYMBOL __attribute__((weak)) #define portWEAK_SYMBOL __attribute__( ( weak ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Scheduler utilities. */ /* Scheduler utilities. */
#define portYIELD() \ #define portYIELD() \
{ \ { \
/* Set a PendSV to request a context switch. */ \ /* Set a PendSV to request a context switch. */ \
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
__asm( " dsb" ); \ __asm( " dsb"); \
__asm( " isb" ); \ __asm( " isb"); \
} }
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specific optimisations. */ /* Architecture specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif #endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */ /* Check the configuration. */
#if( configMAX_PRIORITIES > 32 ) #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. #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
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section management. */ /* Critical section management. */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
{ \ { \
_set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \
__asm( " dsb" ); \ __asm( " dsb"); \
__asm( " isb" ); \ __asm( " isb"); \
} }
#define portENABLE_INTERRUPTS() _set_interrupt_priority( 0 ) #define portENABLE_INTERRUPTS() _set_interrupt_priority( 0 )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
#define portSET_INTERRUPT_MASK_FROM_ISR() _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm( " dsb" ); __asm( " isb" ) #define portSET_INTERRUPT_MASK_FROM_ISR() _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm( " dsb" ); __asm( " isb")
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) _set_interrupt_priority( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) _set_interrupt_priority( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */ /* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* 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 * not necessary for to use this port. They are defined so the common demo files
(which build with all the ports) will build. */ * (which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef configASSERT #ifdef configASSERT
void vPortValidateInterruptPriority( void ); void vPortValidateInterruptPriority( void );
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#endif #endif
/* portNOP() is not required by this port. */ /* portNOP() is not required by this port. */
#define portNOP() #define portNOP()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

813
portable/CCS/ARM_CM4F/port.c
View file

@ -25,78 +25,79 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM CM4F port. * Implementation of functions defined in portable.h for the ARM CM4F port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#ifndef __TI_VFP_SUPPORT__ #ifndef __TI_VFP_SUPPORT__
#error This port can only be used when the project options are configured to enable hardware floating point support. #error This port can only be used when the project options are configured to enable hardware floating point support.
#endif #endif
#if( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) #if ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 )
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html #error configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. See http: /*www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
#endif #endif
#ifndef configSYSTICK_CLOCK_HZ #ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */ /* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else #else
/* The way the SysTick is clocked is not modified in case it is not the same
as the core. */ /* The way the SysTick is clocked is not modified in case it is not the same
#define portNVIC_SYSTICK_CLK_BIT ( 0 ) * as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif #endif
/* Constants required to manipulate the core. Registers first... */ /* Constants required to manipulate the core. Registers first... */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) #define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) #define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) #define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SYSPRI2_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
/* ...then bits in the registers. */ /* ...then bits in the registers. */
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) #define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) #define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) #define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) #define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
/* Constants required to check the validity of an interrupt priority. */ /* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) #define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) #define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) ) #define portAIRCR_REG ( *( ( volatile uint32_t * ) 0xE000ED0C ) )
#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) #define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) #define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )
#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) #define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )
#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) #define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )
#define portPRIGROUP_SHIFT ( 8UL ) #define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ /* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0xFFUL ) #define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to manipulate the VFP. */ /* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */ #define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) #define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
/* Constants required to set up the initial stack. */ /* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 ) #define portINITIAL_XPSR ( 0x01000000 )
#define portINITIAL_EXC_RETURN ( 0xfffffffd ) #define portINITIAL_EXC_RETURN ( 0xfffffffd )
/* The systick is a 24-bit counter. */ /* The systick is a 24-bit counter. */
#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) #define portMAX_24_BIT_NUMBER ( 0xffffffUL )
/* A fiddle factor to estimate the number of SysTick counts that would have /* A fiddle factor to estimate the number of SysTick counts that would have
occurred while the SysTick counter is stopped during tickless idle * occurred while the SysTick counter is stopped during tickless idle
calculations. */ * calculations. */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 45UL )
/* For strict compliance with the Cortex-M spec the task start address should /* 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. */ * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) #define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
/* /*
* Setup the timer to generate the tick interrupts. The implementation in this * Setup the timer to generate the tick interrupts. The implementation in this
@ -128,34 +129,34 @@ static void prvTaskExitError( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY /* Required to allow portasm.asm access the configMAX_SYSCALL_INTERRUPT_PRIORITY
setting. */ * setting. */
const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY; const uint32_t ulMaxSyscallInterruptPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
/* Each task maintains its own interrupt status in the critical nesting /* Each task maintains its own interrupt status in the critical nesting
variable. */ * variable. */
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
/* /*
* The number of SysTick increments that make up one tick period. * The number of SysTick increments that make up one tick period.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulTimerCountsForOneTick = 0; static uint32_t ulTimerCountsForOneTick = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
* The maximum number of tick periods that can be suppressed is limited by the * The maximum number of tick periods that can be suppressed is limited by the
* 24 bit resolution of the SysTick timer. * 24 bit resolution of the SysTick timer.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t xMaximumPossibleSuppressedTicks = 0; static uint32_t xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low * Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only. * power functionality only.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulStoppedTimerCompensation = 0; static uint32_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
@ -164,9 +165,9 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
*/ */
#if ( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
static uint8_t ucMaxSysCallPriority = 0; static uint8_t ucMaxSysCallPriority = 0;
static uint32_t ulMaxPRIGROUPValue = 0; static uint32_t ulMaxPRIGROUPValue = 0;
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16; static const volatile uint8_t * const pcInterruptPriorityRegisters = ( uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;
#endif /* configASSERT_DEFINED */ #endif /* configASSERT_DEFINED */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -174,47 +175,52 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
interrupt. */ * interrupt. */
/* Offset added to account for the way the MCU uses the stack on entry/exit /* Offset added to account for the way the MCU uses the stack on entry/exit
of interrupts, and to ensure alignment. */ * of interrupts, and to ensure alignment. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */ *pxTopOfStack = ( StackType_t ) prvTaskExitError; /* LR */
/* Save code space by skipping register initialisation. */ /* Save code space by skipping register initialisation. */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
/* A save method is being used that requires each task to maintain its /* A save method is being used that requires each task to maintain its
own exec return value. */ * own exec return value. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; *pxTopOfStack = portINITIAL_EXC_RETURN;
pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvTaskExitError( void ) static void prvTaskExitError( void )
{ {
/* A function that implements a task must not exit or attempt to return to /* 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 * its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ). * 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();
Artificially force an assert() to be triggered if configASSERT() is for( ; ; )
defined, then stop here so application writers can catch the error. */ {
configASSERT( uxCriticalNesting == ~0UL ); }
portDISABLE_INTERRUPTS();
for( ;; );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -223,314 +229,318 @@ static void prvTaskExitError( void )
*/ */
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
{ {
volatile uint32_t ulOriginalPriority; volatile uint32_t ulOriginalPriority;
volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
volatile uint8_t ucMaxPriorityValue; volatile uint8_t ucMaxPriorityValue;
/* Determine the maximum priority from which ISR safe FreeRTOS API /* Determine the maximum priority from which ISR safe FreeRTOS API
functions can be called. ISR safe functions are those that end in * functions can be called. ISR safe functions are those that end in
"FromISR". FreeRTOS maintains separate thread and ISR API functions to * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
ensure interrupt entry is as fast and simple as possible. * ensure interrupt entry is as fast and simple as possible.
*
* Save the interrupt priority value that is about to be clobbered. */
ulOriginalPriority = *pucFirstUserPriorityRegister;
Save the interrupt priority value that is about to be clobbered. */ /* Determine the number of priority bits available. First write to all
ulOriginalPriority = *pucFirstUserPriorityRegister; * possible bits. */
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Determine the number of priority bits available. First write to all /* Read the value back to see how many bits stuck. */
possible bits. */ ucMaxPriorityValue = *pucFirstUserPriorityRegister;
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Read the value back to see how many bits stuck. */ /* Use the same mask on the maximum system call priority. */
ucMaxPriorityValue = *pucFirstUserPriorityRegister; ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
/* Use the same mask on the maximum system call priority. */ /* Calculate the maximum acceptable priority group value for the number
ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; * of bits read back. */
ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
/* Calculate the maximum acceptable priority group value for the number while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
of bits read back. */ {
ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; ulMaxPRIGROUPValue--;
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) ucMaxPriorityValue <<= ( uint8_t ) 0x01;
{ }
ulMaxPRIGROUPValue--;
ucMaxPriorityValue <<= ( uint8_t ) 0x01;
}
#ifdef __NVIC_PRIO_BITS #ifdef __NVIC_PRIO_BITS
{ {
/* Check the CMSIS configuration that defines the number of /* Check the CMSIS configuration that defines the number of
priority bits matches the number of priority bits actually queried * priority bits matches the number of priority bits actually queried
from the hardware. */ * from the hardware. */
configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS ); configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
} }
#endif #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 #ifdef configPRIO_BITS
register. */ {
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; /* Check the FreeRTOS configuration that defines the number of
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; * priority bits matches the number of priority bits actually queried
* from the hardware. */
configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
}
#endif
/* Restore the clobbered interrupt priority register to its original /* Shift the priority group value back to its position within the AIRCR
value. */ * register. */
*pucFirstUserPriorityRegister = ulOriginalPriority; ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
} ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
#endif /* conifgASSERT_DEFINED */
/* Make PendSV and SysTick the lowest priority interrupts. */ /* Restore the clobbered interrupt priority register to its original
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; * value. */
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; *pucFirstUserPriorityRegister = ulOriginalPriority;
}
#endif /* conifgASSERT_DEFINED */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Make PendSV and SysTick the lowest priority interrupts. */
here already. */ portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
vPortSetupTimerInterrupt(); portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
/* Initialise the critical nesting count ready for the first task. */ /* Start the timer that generates the tick ISR. Interrupts are disabled
uxCriticalNesting = 0; * here already. */
vPortSetupTimerInterrupt();
/* Ensure the VFP is enabled - it should be anyway. */ /* Initialise the critical nesting count ready for the first task. */
vPortEnableVFP(); uxCriticalNesting = 0;
/* Lazy save always. */ /* Ensure the VFP is enabled - it should be anyway. */
*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; vPortEnableVFP();
/* Start the first task. */ /* Lazy save always. */
vPortStartFirstTask(); *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
/* Should not get here! */ /* Start the first task. */
return 0; vPortStartFirstTask();
/* Should not get here! */
return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */ * Artificially force an assert. */
configASSERT( uxCriticalNesting == 1000UL ); configASSERT( uxCriticalNesting == 1000UL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
uxCriticalNesting++; uxCriticalNesting++;
/* This is not the interrupt safe version of the enter critical function so /* 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 * 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 * 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 * the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */ * assert function also uses a critical section. */
if( uxCriticalNesting == 1 ) if( uxCriticalNesting == 1 )
{ {
configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
configASSERT( uxCriticalNesting ); configASSERT( uxCriticalNesting );
uxCriticalNesting--; uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{ if( uxCriticalNesting == 0 )
portENABLE_INTERRUPTS(); {
} portENABLE_INTERRUPTS();
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void xPortSysTickHandler( void ) void xPortSysTickHandler( void )
{ {
/* The SysTick runs at the lowest interrupt priority, so when this interrupt /* The SysTick runs at the lowest interrupt priority, so when this interrupt
executes all interrupts must be unmasked. There is therefore no need to * 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 * save and then restore the interrupt mask value as its value is already
known. */ * known. */
( void ) portSET_INTERRUPT_MASK_FROM_ISR(); ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
{ {
/* Increment the RTOS tick. */ /* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
/* A context switch is required. Context switching is performed in /* A context switch is required. Context switching is performed in
the PendSV interrupt. Pend the PendSV interrupt. */ * the PendSV interrupt. Pend the PendSV interrupt. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
} }
} }
portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 ); portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
#pragma WEAK( vPortSuppressTicksAndSleep ) #pragma WEAK( vPortSuppressTicksAndSleep )
void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
{ {
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for /* 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 * 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 * inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */ * kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime /* Calculate the reload value required to wait xExpectedIdleTime
tick periods. -1 is used because this code will execute part way * tick periods. -1 is used because this code will execute part way
through one of the tick periods. */ * through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); 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() if( ulReloadValue > ulStoppedTimerCompensation )
method as that will mask interrupts that should exit sleep mode. */ {
__asm( " cpsid i" ); ulReloadValue -= ulStoppedTimerCompensation;
__asm( " dsb" ); }
__asm( " isb" );
/* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */
__asm( " cpsid i");
__asm( " dsb");
__asm( " isb");
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
to be unsuspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Restart from whatever is left in the count register to complete
this tick period. */ * this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick /* Reset the reload register to the value required for normal tick
periods. */ * periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above __disable_interrupt() /* Re-enable interrupts - see comments above __disable_interrupt()
call above. */ * call above. */
__asm( " cpsie i" ); __asm( " cpsie i");
} }
else else
{ {
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Clear the SysTick count flag and set the count value back to /* Clear the SysTick count flag and set the count value back to
zero. */ * zero. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
set its parameter to 0 to indicate that its implementation contains * set its parameter to 0 to indicate that its implementation contains
its own wait for interrupt or wait for event instruction, and so wfi * its own wait for interrupt or wait for event instruction, and so wfi
should not be executed again. However, the original expected idle * should not be executed again. However, the original expected idle
time variable must remain unmodified, so a copy is taken. */ * time variable must remain unmodified, so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
if( xModifiableIdleTime > 0 )
{
__asm( " dsb" );
__asm( " wfi" );
__asm( " isb" );
}
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU if( xModifiableIdleTime > 0 )
out of sleep mode to execute immediately. see comments above {
__disable_interrupt() call above. */ __asm( " dsb");
__asm( " cpsie i" ); __asm( " wfi");
__asm( " dsb" ); __asm( " isb");
__asm( " isb" ); }
/* Disable interrupts again because the clock is about to be stopped configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
and interrupts that execute while the clock is stopped will increase
any slippage between the time maintained by the RTOS and calendar
time. */
__asm( " cpsid i" );
__asm( " dsb" );
__asm( " isb" );
/* Disable the SysTick clock without reading the /* Re-enable interrupts to allow the interrupt that brought the MCU
portNVIC_SYSTICK_CTRL_REG register to ensure the * out of sleep mode to execute immediately. see comments above
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again, * __disable_interrupt() call above. */
the time the SysTick is stopped for is accounted for as best it can __asm( " cpsie i");
be, but using the tickless mode will inevitably result in some tiny __asm( " dsb");
drift of the time maintained by the kernel with respect to calendar __asm( " isb");
time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Disable interrupts again because the clock is about to be stopped
been set back to the current reload value (the reload back being * and interrupts that execute while the clock is stopped will increase
correct for the entire expected idle time) or if the SysTick is yet * any slippage between the time maintained by the RTOS and calendar
to count to zero (in which case an interrupt other than the SysTick * time. */
must have brought the system out of sleep mode). */ __asm( " cpsid i");
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) __asm( " dsb");
{ __asm( " isb");
uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* Disable the SysTick clock without reading the
reloaded with ulReloadValue. Reset the * portNVIC_SYSTICK_CTRL_REG register to ensure the
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
period. */ * the time the SysTick is stopped for is accounted for as best it can
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); * 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 );
/* Don't allow a tiny value, or values that have somehow /* Determine if the SysTick clock has already counted to zero and
underflowed because the post sleep hook did something * been set back to the current reload value (the reload back being
that took too long. */ * correct for the entire expected idle time) or if the SysTick is yet
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * to count to zero (in which case an interrupt other than the SysTick
{ * must have brought the system out of sleep mode). */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
} {
uint32_t ulCalculatedLoadValue;
portNVIC_SYSTICK_LOAD_REG = 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 );
/* As the pending tick will be processed as soon as this /* Don't allow a tiny value, or values that have somehow
function exits, the tick value maintained by the tick is stepped * underflowed because the post sleep hook did something
forward by one less than the time spent waiting. */ * that took too long. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
} {
else ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
{ }
/* 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 portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
was waiting? */
ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
/* The reload value is set to whatever fraction of a single tick /* As the pending tick will be processed as soon as this
period remains. */ * function exits, the tick value maintained by the tick is stepped
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; * 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;
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* How many complete tick periods passed while the processor
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * was waiting? */
value. */ ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
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. */ /* The reload value is set to whatever fraction of a single tick
__asm( " cpsie i" ); * 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( " cpsie i");
}
}
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -542,102 +552,81 @@ void xPortSysTickHandler( void )
#pragma WEAK( vPortSetupTimerInterrupt ) #pragma WEAK( vPortSetupTimerInterrupt )
void vPortSetupTimerInterrupt( void ) void vPortSetupTimerInterrupt( void )
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and clear the SysTick. */ /* Stop and clear the SysTick. */
portNVIC_SYSTICK_CTRL_REG = 0UL; portNVIC_SYSTICK_CTRL_REG = 0UL;
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; 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 ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void ) void vPortValidateInterruptPriority( void )
{ {
extern uint32_t ulPortGetIPSR( void ); extern uint32_t ulPortGetIPSR( void );
uint32_t ulCurrentInterrupt; uint32_t ulCurrentInterrupt;
uint8_t ucCurrentPriority; uint8_t ucCurrentPriority;
ulCurrentInterrupt = ulPortGetIPSR(); ulCurrentInterrupt = ulPortGetIPSR();
/* Is the interrupt number a user defined interrupt? */ /* Is the interrupt number a user defined interrupt? */
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
{ {
/* Look up the interrupt's priority. */ /* Look up the interrupt's priority. */
ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
/* The following assertion will fail if a service routine (ISR) for /* The following assertion will fail if a service routine (ISR) for
an interrupt that has been assigned a priority above * an interrupt that has been assigned a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
function. ISR safe FreeRTOS API functions must *only* be called * function. ISR safe FreeRTOS API functions must *only* be called
from interrupts that have been assigned a priority at or below * from interrupts that have been assigned a priority at or below
configMAX_SYSCALL_INTERRUPT_PRIORITY. * 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 );
}
Numerically low interrupt priority numbers represent logically high /* Priority grouping: The interrupt controller (NVIC) allows the bits
interrupt priorities, therefore the priority of the interrupt must * that define each interrupt's priority to be split between bits that
be set to a value equal to or numerically *higher* than * define the interrupt's pre-emption priority bits and bits that define
configMAX_SYSCALL_INTERRUPT_PRIORITY. * the interrupt's sub-priority. For simplicity all bits must be defined
* to be pre-emption priority bits. The following assertion will fail if
Interrupts that use the FreeRTOS API must not be left at their * this is not the case (if some bits represent a sub-priority).
default priority of zero as that is the highest possible priority, *
which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, * If the application only uses CMSIS libraries for interrupt
and therefore also guaranteed to be invalid. * configuration then the correct setting can be achieved on all Cortex-M
* devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
FreeRTOS maintains separate thread and ISR API functions to ensure * scheduler. Note however that some vendor specific peripheral libraries
interrupt entry is as fast and simple as possible. * assume a non-zero priority group setting, in which cases using a value
* of zero will result in unpredictable behaviour. */
The following links provide detailed information: configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
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 */ #endif /* configASSERT_DEFINED */

163
portable/CCS/ARM_CM4F/portmacro.h
View file

@ -26,11 +26,11 @@
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -43,122 +43,121 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Scheduler utilities. */ /* Scheduler utilities. */
#define portYIELD() \ #define portYIELD() \
{ \ { \
/* Set a PendSV to request a context switch. */ \ /* Set a PendSV to request a context switch. */ \
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \ portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
__asm( " dsb" ); \ __asm( " dsb"); \
__asm( " isb" ); \ __asm( " isb"); \
} }
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD() #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specific optimisations. */ /* Architecture specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif #endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */ /* Check the configuration. */
#if( configMAX_PRIORITIES > 32 ) #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. #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
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section management. */ /* Critical section management. */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
{ \ { \
_set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \ _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); \
__asm( " dsb" ); \ __asm( " dsb"); \
__asm( " isb" ); \ __asm( " isb"); \
} }
#define portENABLE_INTERRUPTS() _set_interrupt_priority( 0 ) #define portENABLE_INTERRUPTS() _set_interrupt_priority( 0 )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
#define portSET_INTERRUPT_MASK_FROM_ISR() _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm( " dsb" ); __asm( " isb" ) #define portSET_INTERRUPT_MASK_FROM_ISR() _set_interrupt_priority( configMAX_SYSCALL_INTERRUPT_PRIORITY ); __asm( " dsb" ); __asm( " isb")
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) _set_interrupt_priority( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) _set_interrupt_priority( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */ /* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* 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 * not necessary for to use this port. They are defined so the common demo files
(which build with all the ports) will build. */ * (which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef configASSERT #ifdef configASSERT
void vPortValidateInterruptPriority( void ); void vPortValidateInterruptPriority( void );
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#endif #endif
/* portNOP() is not required by this port. */ /* portNOP() is not required by this port. */
#define portNOP() #define portNOP()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

347
portable/CCS/ARM_Cortex-R4/port.c
View file

@ -31,33 +31,33 @@
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Count of the critical section nesting depth. */ /* Count of the critical section nesting depth. */
uint32_t ulCriticalNesting = 9999; uint32_t ulCriticalNesting = 9999;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Registers required to configure the RTI. */ /* Registers required to configure the RTI. */
#define portRTI_GCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC00 ) ) #define portRTI_GCTRL_REG ( *( ( volatile uint32_t * ) 0xFFFFFC00 ) )
#define portRTI_TBCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC04 ) ) #define portRTI_TBCTRL_REG ( *( ( volatile uint32_t * ) 0xFFFFFC04 ) )
#define portRTI_COMPCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC0C ) ) #define portRTI_COMPCTRL_REG ( *( ( volatile uint32_t * ) 0xFFFFFC0C ) )
#define portRTI_CNT0_FRC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC10 ) ) #define portRTI_CNT0_FRC0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC10 ) )
#define portRTI_CNT0_UC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC14 ) ) #define portRTI_CNT0_UC0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC14 ) )
#define portRTI_CNT0_CPUC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC18 ) ) #define portRTI_CNT0_CPUC0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC18 ) )
#define portRTI_CNT0_COMP0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC50 ) ) #define portRTI_CNT0_COMP0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC50 ) )
#define portRTI_CNT0_UDCP0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC54 ) ) #define portRTI_CNT0_UDCP0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC54 ) )
#define portRTI_SETINTENA_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC80 ) ) #define portRTI_SETINTENA_REG ( *( ( volatile uint32_t * ) 0xFFFFFC80 ) )
#define portRTI_CLEARINTENA_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC84 ) ) #define portRTI_CLEARINTENA_REG ( *( ( volatile uint32_t * ) 0xFFFFFC84 ) )
#define portRTI_INTFLAG_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC88 ) ) #define portRTI_INTFLAG_REG ( *( ( volatile uint32_t * ) 0xFFFFFC88 ) )
/* Constants required to set up the initial stack of each task. */ /* Constants required to set up the initial stack of each task. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1F ) #define portINITIAL_SPSR ( ( StackType_t ) 0x1F )
#define portINITIAL_FPSCR ( ( StackType_t ) 0x00 ) #define portINITIAL_FPSCR ( ( StackType_t ) 0x00 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 0x04 ) #define portINSTRUCTION_SIZE ( ( StackType_t ) 0x04 )
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
/* The number of words on the stack frame between the saved Top Of Stack and /* The number of words on the stack frame between the saved Top Of Stack and
R0 (in which the parameters are passed. */ * R0 (in which the parameters are passed. */
#define portSPACE_BETWEEN_TOS_AND_PARAMETERS ( 12 ) #define portSPACE_BETWEEN_TOS_AND_PARAMETERS ( 12 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -67,7 +67,7 @@ extern void vPortStartFirstTask( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Saved as part of the task context. Set to pdFALSE if the task does not /* Saved as part of the task context. Set to pdFALSE if the task does not
require an FPU context. */ * require an FPU context. */
uint32_t ulTaskHasFPUContext = 0; uint32_t ulTaskHasFPUContext = 0;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -76,181 +76,183 @@ uint32_t ulTaskHasFPUContext = 0;
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t *pxOriginalTOS; StackType_t * pxOriginalTOS;
pxOriginalTOS = pxTopOfStack; pxOriginalTOS = pxTopOfStack;
#if __TI_VFP_SUPPORT__ #if __TI_VFP_SUPPORT__
{ {
/* Ensure the stack is correctly aligned on exit. */ /* Ensure the stack is correctly aligned on exit. */
pxTopOfStack--; pxTopOfStack--;
} }
#endif #endif
/* Setup the initial stack of the task. The stack is set exactly as /* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. */ * expected by the portRESTORE_CONTEXT() macro. */
/* First on the stack is the return address - which is the start of the as /* First on the stack is the return address - which is the start of the as
the task has not executed yet. The offset is added to make the return * the task has not executed yet. The offset is added to make the return
address appear as it would within an IRQ ISR. */ * address appear as it would within an IRQ ISR. */
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--; pxTopOfStack--;
#ifdef portPRELOAD_TASK_REGISTERS #ifdef portPRELOAD_TASK_REGISTERS
{ {
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
pxTopOfStack--; pxTopOfStack--;
} }
#else #else /* ifdef portPRELOAD_TASK_REGISTERS */
{ {
pxTopOfStack -= portSPACE_BETWEEN_TOS_AND_PARAMETERS; pxTopOfStack -= portSPACE_BETWEEN_TOS_AND_PARAMETERS;
} }
#endif #endif /* ifdef portPRELOAD_TASK_REGISTERS */
/* Function parameters are passed in R0. */ /* Function parameters are passed in R0. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--; pxTopOfStack--;
/* Set the status register for system mode, with interrupts enabled. */ /* Set the status register for system mode, with interrupts enabled. */
*pxTopOfStack = ( StackType_t ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR ); *pxTopOfStack = ( StackType_t ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR );
if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
{ {
/* The task will start in thumb mode. */ /* The task will start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT; *pxTopOfStack |= portTHUMB_MODE_BIT;
} }
#ifdef __TI_VFP_SUPPORT__ #ifdef __TI_VFP_SUPPORT__
{ {
pxTopOfStack--; pxTopOfStack--;
/* The last thing on the stack is the tasks ulUsingFPU value, which by /* The last thing on the stack is the tasks ulUsingFPU value, which by
default is set to indicate that the stack frame does not include FPU * default is set to indicate that the stack frame does not include FPU
registers. */ * registers. */
*pxTopOfStack = pdFALSE; *pxTopOfStack = pdFALSE;
} }
#endif #endif
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetupTimerInterrupt(void) static void prvSetupTimerInterrupt( void )
{ {
/* Disable timer 0. */ /* Disable timer 0. */
portRTI_GCTRL_REG &= 0xFFFFFFFEUL; portRTI_GCTRL_REG &= 0xFFFFFFFEUL;
/* Use the internal counter. */ /* Use the internal counter. */
portRTI_TBCTRL_REG = 0x00000000U; portRTI_TBCTRL_REG = 0x00000000U;
/* COMPSEL0 will use the RTIFRC0 counter. */ /* COMPSEL0 will use the RTIFRC0 counter. */
portRTI_COMPCTRL_REG = 0x00000000U; portRTI_COMPCTRL_REG = 0x00000000U;
/* Initialise the counter and the prescale counter registers. */ /* Initialise the counter and the prescale counter registers. */
portRTI_CNT0_UC0_REG = 0x00000000U; portRTI_CNT0_UC0_REG = 0x00000000U;
portRTI_CNT0_FRC0_REG = 0x00000000U; portRTI_CNT0_FRC0_REG = 0x00000000U;
/* Set Prescalar for RTI clock. */ /* Set Prescalar for RTI clock. */
portRTI_CNT0_CPUC0_REG = 0x00000001U; portRTI_CNT0_CPUC0_REG = 0x00000001U;
portRTI_CNT0_COMP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ; portRTI_CNT0_COMP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ;
portRTI_CNT0_UDCP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ; portRTI_CNT0_UDCP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ;
/* Clear interrupts. */ /* Clear interrupts. */
portRTI_INTFLAG_REG = 0x0007000FU; portRTI_INTFLAG_REG = 0x0007000FU;
portRTI_CLEARINTENA_REG = 0x00070F0FU; portRTI_CLEARINTENA_REG = 0x00070F0FU;
/* Enable the compare 0 interrupt. */ /* Enable the compare 0 interrupt. */
portRTI_SETINTENA_REG = 0x00000001U; portRTI_SETINTENA_REG = 0x00000001U;
portRTI_GCTRL_REG |= 0x00000001U; portRTI_GCTRL_REG |= 0x00000001U;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
BaseType_t xPortStartScheduler(void) BaseType_t xPortStartScheduler( void )
{ {
/* Start the timer that generates the tick ISR. */ /* Start the timer that generates the tick ISR. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Reset the critical section nesting count read to execute the first task. */ /* Reset the critical section nesting count read to execute the first task. */
ulCriticalNesting = 0; ulCriticalNesting = 0;
/* Start the first task. This is done from portASM.asm as ARM mode must be /* Start the first task. This is done from portASM.asm as ARM mode must be
used. */ * used. */
vPortStartFirstTask(); vPortStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return pdFAIL; return pdFAIL;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
void vPortEndScheduler(void) void vPortEndScheduler( void )
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */ * Artificially force an assert. */
configASSERT( ulCriticalNesting == 1000UL ); configASSERT( ulCriticalNesting == 1000UL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if configUSE_PREEMPTION == 0 #if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to /* The cooperative scheduler requires a normal IRQ service routine to
* simply increment the system tick. */ * simply increment the system tick. */
__interrupt void vPortNonPreemptiveTick( void ) __interrupt void vPortNonPreemptiveTick( void )
{ {
/* clear clock interrupt flag */ /* clear clock interrupt flag */
portRTI_INTFLAG_REG = 0x00000001; portRTI_INTFLAG_REG = 0x00000001;
/* Increment the tick count - this may make a delaying task ready /* Increment the tick count - this may make a delaying task ready
to run - but a context switch is not performed. */ * to run - but a context switch is not performed. */
xTaskIncrementTick(); xTaskIncrementTick();
} }
#else #else /* if configUSE_PREEMPTION == 0 */
/* /*
************************************************************************** **************************************************************************
* The preemptive scheduler ISR is written in assembler and can be found * The preemptive scheduler ISR is written in assembler and can be found
* in the portASM.asm file. This will only get used if portUSE_PREEMPTION * in the portASM.asm file. This will only get used if portUSE_PREEMPTION
* is set to 1 in portmacro.h * is set to 1 in portmacro.h
************************************************************************** **************************************************************************
*/ */
void vPortPreemptiveTick( void ); void vPortPreemptiveTick( void );
#endif #endif /* if configUSE_PREEMPTION == 0 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -259,13 +261,13 @@ void vPortEndScheduler(void)
*/ */
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */ /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times * directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -275,37 +277,36 @@ void vPortEnterCritical( void )
*/ */
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > 0 ) if( ulCriticalNesting > 0 )
{ {
/* Decrement the nesting count as we are leaving a critical section. */ /* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be /* If the nesting level has reached zero then interrupts should be
re-enabled. */ * re-enabled. */
if( ulCriticalNesting == 0 ) if( ulCriticalNesting == 0 )
{ {
/* Enable interrupts as per portENABLE_INTERRUPTS(). */ /* Enable interrupts as per portENABLE_INTERRUPTS(). */
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
} }
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if __TI_VFP_SUPPORT__ #if __TI_VFP_SUPPORT__
void vPortTaskUsesFPU( void ) void vPortTaskUsesFPU( void )
{ {
extern void vPortInitialiseFPSCR( void ); extern void vPortInitialiseFPSCR( void );
/* A task is registering the fact that it needs an FPU context. Set the /* A task is registering the fact that it needs an FPU context. Set the
FPU flag (saved as part of the task context. */ * FPU flag (saved as part of the task context. */
ulTaskHasFPUContext = pdTRUE; ulTaskHasFPUContext = pdTRUE;
/* Initialise the floating point status register. */ /* Initialise the floating point status register. */
vPortInitialiseFPSCR(); vPortInitialiseFPSCR();
} }
#endif /* __TI_VFP_SUPPORT__ */ #endif /* __TI_VFP_SUPPORT__ */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

89
portable/CCS/ARM_Cortex-R4/portmacro.h
View file

@ -38,79 +38,78 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if (configUSE_16_BIT_TICKS == 1) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY (TickType_t) 0xFFFF #define portMAX_DELAY ( TickType_t ) 0xFFFF
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY (TickType_t) 0xFFFFFFFFF #define portMAX_DELAY ( TickType_t ) 0xFFFFFFFFF
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH (-1) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ((TickType_t) 1000 / configTICK_RATE_HZ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
/* Critical section handling. */ /* Critical section handling. */
extern void vPortEnterCritical(void); extern void vPortEnterCritical( void );
extern void vPortExitCritical(void); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
#define portDISABLE_INTERRUPTS() asm( " CPSID I" ) #define portDISABLE_INTERRUPTS() asm ( " CPSID I" )
#define portENABLE_INTERRUPTS() asm( " CPSIE I" ) #define portENABLE_INTERRUPTS() asm ( " CPSIE I" )
/* Scheduler utilities. */ /* Scheduler utilities. */
#pragma SWI_ALIAS( vPortYield, 0 ) #pragma SWI_ALIAS( vPortYield, 0 )
extern void vPortYield( void ); extern void vPortYield( void );
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portSYS_SSIR1_REG ( * ( ( volatile uint32_t * ) 0xFFFFFFB0 ) ) #define portSYS_SSIR1_REG ( *( ( volatile uint32_t * ) 0xFFFFFFB0 ) )
#define portSYS_SSIR1_SSKEY ( 0x7500UL ) #define portSYS_SSIR1_SSKEY ( 0x7500UL )
#define portYIELD_WITHIN_API() { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; asm( " DSB " ); asm( " ISB " ); } #define portYIELD_WITHIN_API() { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; asm ( " DSB " ); asm ( " ISB " ); }
#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ){ portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; ( void ) portSYS_SSIR1_REG; } #define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; ( void ) portSYS_SSIR1_REG; }
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif #endif
/* Architecture specific optimisations. */ /* Architecture specific optimisations. */
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */ /* Check the configuration. */
#if( configMAX_PRIORITIES > 32 ) #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. #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
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION(vFunction, pvParameters) void vFunction(void *pvParameters) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION_PROTO(vFunction, pvParameters) void vFunction(void *pvParameters) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#endif /* __PORTMACRO_H__ */ #endif /* __PORTMACRO_H__ */

95
portable/CCS/MSP430X/data_model.h
View file

@ -1,52 +1,47 @@
;/* ; /*
; * FreeRTOS Kernel V10.3.1 * ; * FreeRTOS Kernel V10.3.1
; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * ; * 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 * ; * 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 * ; * this software and associated documentation files (the "Software"), to deal in
; * the Software without restriction, including without limitation the rights to * ; * the Software without restriction, including without limitation the rights to
; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of * ; * 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, * ; * the Software, and to permit persons to whom the Software is furnished to do so,
; * subject to the following conditions: * ; * subject to the following conditions:
; * * ; *
; * The above copyright notice and this permission notice shall be included in all * ; * The above copyright notice and this permission notice shall be included in all
; * copies or substantial portions of the Software. * ; * copies or substantial portions of the Software.
; * * ; *
; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * ; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS * ; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR * ; * 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 * ; * 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 * ; * 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. * ; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
; * * ; *
; * http://www.FreeRTOS.org * ; * http://www.FreeRTOS.org
; * http://aws.amazon.com/freertos * ; * http://aws.amazon.com/freertos
; * * ; *
; */ * ; */
.if $DEFINED( __LARGE_DATA_MODEL__ )
.define "pushm.a", pushm_x
.define "popm.a", popm_x
.define "push.a", push_x
.define "pop.a", pop_x
.define "mov.a", mov_x
.else
.define "pushm.w", pushm_x
.define "popm.w", popm_x
.define "push.w", push_x
.define "pop.w", pop_x
.define "mov.w", mov_x
.endif
.if $DEFINED( __LARGE_CODE_MODEL__ )
.define "calla", call_x
.define "reta", ret_x
.else
.define "call", call_x
.define "ret", ret_x
.endif
.if $DEFINED( __LARGE_DATA_MODEL__ )
.define "pushm.a", pushm_x
.define "popm.a", popm_x
.define "push.a", push_x
.define "pop.a", pop_x
.define "mov.a", mov_x
.else
.define "pushm.w", pushm_x
.define "popm.w", popm_x
.define "push.w", push_x
.define "pop.w", pop_x
.define "mov.w", mov_x
.endif
.if $DEFINED( __LARGE_CODE_MODEL__ )
.define "calla", call_x
.define "reta", ret_x
.else
.define "call", call_x
.define "ret", ret_x
.endif

202
portable/CCS/MSP430X/port.c
View file

@ -29,28 +29,28 @@
#include "task.h" #include "task.h"
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the MSP430X port. * Implementation of functions defined in portable.h for the MSP430X port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Constants required for hardware setup. The tick ISR runs off the ACLK, /* Constants required for hardware setup. The tick ISR runs off the ACLK,
not the MCLK. */ * not the MCLK. */
#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) #define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 )
#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) #define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 )
#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) #define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 )
/* We require the address of the pxCurrentTCB variable, but don't want to know /* We require the address of the pxCurrentTCB variable, but don't want to know
any details of its type. */ * any details of its type. */
typedef void TCB_t; typedef void TCB_t;
extern volatile TCB_t * volatile pxCurrentTCB; extern volatile TCB_t * volatile pxCurrentTCB;
/* Each task maintains a count of the critical section nesting depth. Each /* 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 * time a critical section is entered the count is incremented. Each time a
critical section is exited the count is decremented - with interrupts only * critical section is exited the count is decremented - with interrupts only
being re-enabled if the count is zero. * being re-enabled if the count is zero.
*
usCriticalNesting will get set to zero when the scheduler starts, but must * 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 * not be initialised to zero as this will cause problems during the startup
sequence. */ * sequence. */
volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -68,94 +68,96 @@ void vPortSetupTimerInterrupt( void );
* *
* See the header file portable.h. * See the header file portable.h.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
uint16_t *pusTopOfStack; uint16_t * pusTopOfStack;
uint32_t *pulTopOfStack, ulTemp; uint32_t * pulTopOfStack, ulTemp;
/* /*
Place a few bytes of known values on the bottom of the stack. * 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. * 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--;
*/
*pxTopOfStack = ( StackType_t ) 0x1111; /* Data types are need either 16 bits or 32 bits depending on the data
pxTopOfStack--; * and code model used. */
*pxTopOfStack = ( StackType_t ) 0x2222; if( sizeof( pxCode ) == sizeof( uint16_t ) )
pxTopOfStack--; {
*pxTopOfStack = ( StackType_t ) 0x3333; pusTopOfStack = ( uint16_t * ) pxTopOfStack;
pxTopOfStack--; ulTemp = ( uint32_t ) pxCode;
*/ *pusTopOfStack = ( uint16_t ) ulTemp;
}
else
{
/* Make room for a 20 bit value stored as a 32 bit value. */
pusTopOfStack = ( uint16_t * ) pxTopOfStack;
pusTopOfStack--;
pulTopOfStack = ( uint32_t * ) pusTopOfStack;
*pulTopOfStack = ( uint32_t ) pxCode;
}
/* Data types are need either 16 bits or 32 bits depending on the data pusTopOfStack--;
and code model used. */ *pusTopOfStack = portFLAGS_INT_ENABLED;
if( sizeof( pxCode ) == sizeof( uint16_t ) ) pusTopOfStack -= ( sizeof( StackType_t ) / 2 );
{
pusTopOfStack = ( uint16_t * ) pxTopOfStack;
ulTemp = ( uint32_t ) pxCode;
*pusTopOfStack = ( uint16_t ) ulTemp;
}
else
{
/* Make room for a 20 bit value stored as a 32 bit value. */
pusTopOfStack = ( uint16_t * ) pxTopOfStack;
pusTopOfStack--;
pulTopOfStack = ( uint32_t * ) pusTopOfStack;
*pulTopOfStack = ( uint32_t ) pxCode;
}
pusTopOfStack--; /* From here on the size of stacked items depends on the memory model. */
*pusTopOfStack = portFLAGS_INT_ENABLED; pxTopOfStack = ( StackType_t * ) pusTopOfStack;
pusTopOfStack -= ( sizeof( StackType_t ) / 2 );
/* From here on the size of stacked items depends on the memory model. */
pxTopOfStack = ( StackType_t * ) pusTopOfStack;
/* Next the general purpose registers. */ /* Next the general purpose registers. */
#ifdef PRELOAD_REGISTER_VALUES #ifdef PRELOAD_REGISTER_VALUES
*pxTopOfStack = ( StackType_t ) 0xffff; *pxTopOfStack = ( StackType_t ) 0xffff;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xeeee; *pxTopOfStack = ( StackType_t ) 0xeeee;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xdddd; *pxTopOfStack = ( StackType_t ) 0xdddd;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; *pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xbbbb; *pxTopOfStack = ( StackType_t ) 0xbbbb;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xaaaa; *pxTopOfStack = ( StackType_t ) 0xaaaa;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x9999; *pxTopOfStack = ( StackType_t ) 0x9999;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x8888; *pxTopOfStack = ( StackType_t ) 0x8888;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x5555; *pxTopOfStack = ( StackType_t ) 0x5555;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x6666; *pxTopOfStack = ( StackType_t ) 0x6666;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x5555; *pxTopOfStack = ( StackType_t ) 0x5555;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x4444; *pxTopOfStack = ( StackType_t ) 0x4444;
pxTopOfStack--; pxTopOfStack--;
#else #else /* ifdef PRELOAD_REGISTER_VALUES */
pxTopOfStack -= 3; pxTopOfStack -= 3;
*pxTopOfStack = ( StackType_t ) pvParameters; *pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack -= 9; pxTopOfStack -= 9;
#endif #endif /* ifdef PRELOAD_REGISTER_VALUES */
/* A variable is used to keep track of the critical section nesting. /* 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 * This variable has to be stored as part of the task context and is
initially set to zero. */ * initially set to zero. */
*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;
/* Return a pointer to the top of the stack we have generated so this can /* 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. */ * be stored in the task control block for the task. */
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the MSP430 port will get stopped. If required simply /* It is unlikely that the MSP430 port will get stopped. If required simply
disable the tick interrupt here. */ * disable the tick interrupt here. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -164,23 +166,21 @@ void vPortEndScheduler( void )
*/ */
void vPortSetupTimerInterrupt( void ) void vPortSetupTimerInterrupt( void )
{ {
vApplicationSetupTimerInterrupt(); vApplicationSetupTimerInterrupt();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#pragma vector=configTICK_VECTOR #pragma vector=configTICK_VECTOR
interrupt void vTickISREntry( void ) interrupt void vTickISREntry( void )
{ {
extern void vPortTickISR( void ); extern void vPortTickISR( void );
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF ); __bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
#if configUSE_PREEMPTION == 1 #if configUSE_PREEMPTION == 1
extern void vPortPreemptiveTickISR( void ); extern void vPortPreemptiveTickISR( void );
vPortPreemptiveTickISR(); vPortPreemptiveTickISR();
#else #else
extern void vPortCooperativeTickISR( void ); extern void vPortCooperativeTickISR( void );
vPortCooperativeTickISR(); vPortCooperativeTickISR();
#endif #endif
} }

115
portable/CCS/MSP430X/portmacro.h
View file

@ -41,72 +41,72 @@
#include "msp430.h" #include "msp430.h"
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT int #define portSHORT int
#define portBASE_TYPE portSHORT #define portBASE_TYPE portSHORT
/* The stack type changes depending on the data model. */ /* The stack type changes depending on the data model. */
#ifdef __LARGE_DATA_MODEL__ #ifdef __LARGE_DATA_MODEL__
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#else #else
#define portSTACK_TYPE uint16_t #define portSTACK_TYPE uint16_t
#define portPOINTER_SIZE_TYPE uint16_t #define portPOINTER_SIZE_TYPE uint16_t
#endif #endif
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef short BaseType_t; typedef short BaseType_t;
typedef unsigned short UBaseType_t; typedef unsigned short UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Interrupt control macros. */ /* Interrupt control macros. */
#define portDISABLE_INTERRUPTS() _disable_interrupt(); _nop() #define portDISABLE_INTERRUPTS() _disable_interrupt(); _nop()
#define portENABLE_INTERRUPTS() _enable_interrupt(); _nop() #define portENABLE_INTERRUPTS() _enable_interrupt(); _nop()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section control macros. */ /* Critical section control macros. */
#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) #define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 )
#define portENTER_CRITICAL() \ #define portENTER_CRITICAL() \
{ \ { \
extern volatile uint16_t usCriticalNesting; \ extern volatile uint16_t usCriticalNesting; \
\ \
portDISABLE_INTERRUPTS(); \ portDISABLE_INTERRUPTS(); \
\ \
/* Now interrupts are disabled usCriticalNesting can be accessed */ \ /* Now interrupts are disabled usCriticalNesting can be accessed */ \
/* directly. Increment ulCriticalNesting to keep a count of how many */ \ /* directly. Increment ulCriticalNesting to keep a count of how many */ \
/* times portENTER_CRITICAL() has been called. */ \ /* times portENTER_CRITICAL() has been called. */ \
usCriticalNesting++; \ usCriticalNesting++; \
} }
#define portEXIT_CRITICAL() \ #define portEXIT_CRITICAL() \
{ \ { \
extern volatile uint16_t usCriticalNesting; \ extern volatile uint16_t usCriticalNesting; \
\ \
if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \
{ \ { \
/* Decrement the nesting count as we are leaving a critical section. */ \ /* Decrement the nesting count as we are leaving a critical section. */ \
usCriticalNesting--; \ usCriticalNesting--; \
\ \
/* If the nesting level has reached zero then interrupts should be */ \ /* If the nesting level has reached zero then interrupts should be */ \
/* re-enabled. */ \ /* re-enabled. */ \
if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \
{ \ { \
portENABLE_INTERRUPTS(); \ portENABLE_INTERRUPTS(); \
} \ } \
} \ } \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
@ -115,28 +115,27 @@ extern volatile uint16_t usCriticalNesting; \
* Manual context switch called by portYIELD or taskYIELD. * Manual context switch called by portYIELD or taskYIELD.
*/ */
extern void vPortYield( void ); extern void vPortYield( void );
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portBYTE_ALIGNMENT 2 #define portBYTE_ALIGNMENT 2
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portNOP() __no_operation() #define portNOP() __no_operation()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
extern void vTaskSwitchContext( void ); extern void vTaskSwitchContext( void );
#define portYIELD_FROM_ISR( x ) if( x ) vPortYield() #define portYIELD_FROM_ISR( x ) if( x ) vPortYield()
void vApplicationSetupTimerInterrupt( void ); void vApplicationSetupTimerInterrupt( void );
/* sizeof( int ) != sizeof( long ) so a full printf() library is required if /* sizeof( int ) != sizeof( long ) so a full printf() library is required if
run time stats information is to be displayed. */ * run time stats information is to be displayed. */
#define portLU_PRINTF_SPECIFIER_REQUIRED #define portLU_PRINTF_SPECIFIER_REQUIRED
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

168
portable/CodeWarrior/ColdFire_V1/port.c
View file

@ -29,154 +29,158 @@
#include "task.h" #include "task.h"
#define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 ) #define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 )
/* Supervisor mode set. */ /* Supervisor mode set. */
#define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000) #define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000 )
/* The clock prescale into the timer peripheral. */ /* The clock prescale into the timer peripheral. */
#define portPRESCALE_VALUE ( ( uint8_t ) 10 ) #define portPRESCALE_VALUE ( ( uint8_t ) 10 )
/* The clock frequency into the RTC. */ /* The clock frequency into the RTC. */
#define portRTC_CLOCK_HZ ( ( uint32_t ) 1000 ) #define portRTC_CLOCK_HZ ( ( uint32_t ) 1000 )
asm void interrupt VectorNumber_VL1swi vPortYieldISR( void ); asm void interrupt VectorNumber_VL1swi vPortYieldISR( void );
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This /* 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. */ * will be set to 0 prior to the first task being started. */
static uint32_t ulCriticalNesting = 0x9999UL; static uint32_t ulCriticalNesting = 0x9999UL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
uint32_t ulOriginalA5;
uint32_t ulOriginalA5; __asm {
MOVE.L A5, ulOriginalA5
__asm{ MOVE.L A5, ulOriginalA5 }; };
*pxTopOfStack = (StackType_t) 0xDEADBEEF; *pxTopOfStack = ( StackType_t ) 0xDEADBEEF;
pxTopOfStack--; pxTopOfStack--;
/* Exception stack frame starts with the return address. */ /* Exception stack frame starts with the return address. */
*pxTopOfStack = ( StackType_t ) pxCode; *pxTopOfStack = ( StackType_t ) pxCode;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x0; /*FP*/ *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
pxTopOfStack -= 14; /* A5 to D0. */ pxTopOfStack -= 14; /* A5 to D0. */
/* Parameter in A0. */ /* Parameter in A0. */
*( pxTopOfStack + 8 ) = ( StackType_t ) pvParameters; *( pxTopOfStack + 8 ) = ( StackType_t ) pvParameters;
/* A5 must be maintained as it is resurved by the compiler. */ /* A5 must be maintained as it is resurved by the compiler. */
*( pxTopOfStack + 13 ) = ulOriginalA5; *( pxTopOfStack + 13 ) = ulOriginalA5;
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
extern void vPortStartFirstTask( void ); extern void vPortStartFirstTask( void );
ulCriticalNesting = 0UL; ulCriticalNesting = 0UL;
/* Configure a timer to generate the tick interrupt. */ /* Configure a timer to generate the tick interrupt. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Start the first task executing. */ /* Start the first task executing. */
vPortStartFirstTask(); vPortStartFirstTask();
return pdFALSE; return pdFALSE;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
/* Prescale by 1 - ie no prescale. */ /* Prescale by 1 - ie no prescale. */
RTCSC |= 8; RTCSC |= 8;
/* Compare match value. */ /* Compare match value. */
RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ; RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ;
/* Enable the RTC to generate interrupts - interrupts are already disabled /* Enable the RTC to generate interrupts - interrupts are already disabled
when this code executes. */ * when this code executes. */
RTCSC_RTIE = 1; RTCSC_RTIE = 1;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented as there is nothing to return to. */ /* Not implemented as there is nothing to return to. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
if( ulCriticalNesting == 0UL ) if( ulCriticalNesting == 0UL )
{ {
/* Guard against context switches being pended simultaneously with a /* Guard against context switches being pended simultaneously with a
critical section being entered. */ * critical section being entered. */
do do
{ {
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
if( INTC_FRC == 0UL )
{
break;
}
portENABLE_INTERRUPTS(); if( INTC_FRC == 0UL )
{
break;
}
} while( 1 ); portENABLE_INTERRUPTS();
} } while( 1 );
ulCriticalNesting++; }
ulCriticalNesting++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
ulCriticalNesting--; ulCriticalNesting--;
if( ulCriticalNesting == 0 )
{ if( ulCriticalNesting == 0 )
portENABLE_INTERRUPTS(); {
} portENABLE_INTERRUPTS();
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortYieldHandler( void ) void vPortYieldHandler( void )
{ {
uint32_t ulSavedInterruptMask; uint32_t ulSavedInterruptMask;
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
{ {
/* Note this will clear all forced interrupts - this is done for speed. */ /* Note this will clear all forced interrupts - this is done for speed. */
INTC_CFRC = 0x3E; INTC_CFRC = 0x3E;
vTaskSwitchContext(); vTaskSwitchContext();
} }
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void interrupt VectorNumber_Vrtc vPortTickISR( void ) void interrupt VectorNumber_Vrtc vPortTickISR( void )
{ {
uint32_t ulSavedInterruptMask; uint32_t ulSavedInterruptMask;
/* Clear the interrupt. */ /* Clear the interrupt. */
RTCSC |= RTCSC_RTIF_MASK; RTCSC |= RTCSC_RTIF_MASK;
/* Increment the RTOS tick. */ /* Increment the RTOS tick. */
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
{ {
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
taskYIELD(); taskYIELD();
} }
} }
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
} }

94
portable/CodeWarrior/ColdFire_V1/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -42,73 +42,73 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portBYTE_ALIGNMENT 4 #define portBYTE_ALIGNMENT 4
#define portSTACK_GROWTH -1 #define portSTACK_GROWTH -1
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulPortSetIPL( uint32_t ); uint32_t ulPortSetIPL( uint32_t );
#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) #define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 ) #define portENABLE_INTERRUPTS() ulPortSetIPL( 0 )
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
extern UBaseType_t uxPortSetInterruptMaskFromISR( void ); extern UBaseType_t uxPortSetInterruptMaskFromISR( void );
extern void vPortClearInterruptMaskFromISR( UBaseType_t ); extern void vPortClearInterruptMaskFromISR( UBaseType_t );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
#define portNOP() asm volatile ( "nop" ) #define portNOP() asm volatile ( "nop" )
/* Context switches are requested using the force register. */ /* Context switches are requested using the force register. */
#define portYIELD() INTC_SFRC = 0x3E; portNOP(); portNOP(); portNOP(); portNOP(); portNOP() #define portYIELD() INTC_SFRC = 0x3E; portNOP(); portNOP(); portNOP(); portNOP(); portNOP()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* 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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) __attribute__( ( noreturn ) )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \ #define portEND_SWITCHING_ISR( xSwitchRequired ) \
{ \ if( xSwitchRequired != pdFALSE ) \
portYIELD(); \ { \
} portYIELD(); \
}
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

125
portable/CodeWarrior/ColdFire_V2/port.c
View file

@ -29,50 +29,52 @@
#include "task.h" #include "task.h"
#define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 ) #define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 )
/* Supervisor mode set. */ /* Supervisor mode set. */
#define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000) #define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000 )
/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This /* 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. */ * will be set to 0 prior to the first task being started. */
static uint32_t ulCriticalNesting = 0x9999UL; static uint32_t ulCriticalNesting = 0x9999UL;
#define portSAVE_CONTEXT() \ #define portSAVE_CONTEXT() \
lea.l (-60, %sp), %sp; \ lea.l( -60, % sp ), % sp; \
movem.l %d0-%fp, (%sp); \ movem.l % d0 - % fp, ( % sp ); \
move.l pxCurrentTCB, %a0; \ move.l pxCurrentTCB, % a0; \
move.l %sp, (%a0); move.l % sp, ( % a0 );
#define portRESTORE_CONTEXT() \ #define portRESTORE_CONTEXT() \
move.l pxCurrentTCB, %a0; \ move.l pxCurrentTCB, % a0; \
move.l (%a0), %sp; \ move.l( % a0 ), % sp; \
movem.l (%sp), %d0-%fp; \ movem.l( % sp ), % d0 - % fp; \
lea.l %sp@(60), %sp; \ lea.l % sp@( 60 ), % sp; \
rte rte
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
*pxTopOfStack = ( StackType_t ) pvParameters; *pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = (StackType_t) 0xDEADBEEF; *pxTopOfStack = ( StackType_t ) 0xDEADBEEF;
pxTopOfStack--; pxTopOfStack--;
/* Exception stack frame starts with the return address. */ /* Exception stack frame starts with the return address. */
*pxTopOfStack = ( StackType_t ) pxCode; *pxTopOfStack = ( StackType_t ) pxCode;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x0; /*FP*/ *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
pxTopOfStack -= 14; /* A5 to D0. */ pxTopOfStack -= 14; /* A5 to D0. */
return pxTopOfStack; return pxTopOfStack;
} }
@ -80,67 +82,68 @@ StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t p
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
extern void vPortStartFirstTask( void ); extern void vPortStartFirstTask( void );
ulCriticalNesting = 0UL; ulCriticalNesting = 0UL;
/* Configure the interrupts used by this port. */ /* Configure the interrupts used by this port. */
vApplicationSetupInterrupts(); vApplicationSetupInterrupts();
/* Start the first task executing. */ /* Start the first task executing. */
vPortStartFirstTask(); vPortStartFirstTask();
return pdFALSE; return pdFALSE;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented as there is nothing to return to. */ /* Not implemented as there is nothing to return to. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
if( ulCriticalNesting == 0UL ) if( ulCriticalNesting == 0UL )
{ {
/* Guard against context switches being pended simultaneously with a /* Guard against context switches being pended simultaneously with a
critical section being entered. */ * critical section being entered. */
do do
{ {
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
if( MCF_INTC0_INTFRCH == 0UL )
{
break;
}
portENABLE_INTERRUPTS(); if( MCF_INTC0_INTFRCH == 0UL )
{
break;
}
} while( 1 ); portENABLE_INTERRUPTS();
} } while( 1 );
ulCriticalNesting++; }
ulCriticalNesting++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
ulCriticalNesting--; ulCriticalNesting--;
if( ulCriticalNesting == 0 )
{ if( ulCriticalNesting == 0 )
portENABLE_INTERRUPTS(); {
} portENABLE_INTERRUPTS();
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortYieldHandler( void ) void vPortYieldHandler( void )
{ {
uint32_t ulSavedInterruptMask; uint32_t ulSavedInterruptMask;
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
/* Note this will clear all forced interrupts - this is done for speed. */ /* Note this will clear all forced interrupts - this is done for speed. */
MCF_INTC0_INTFRCL = 0; MCF_INTC0_INTFRCL = 0;
vTaskSwitchContext(); vTaskSwitchContext();
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

94
portable/CodeWarrior/ColdFire_V2/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -42,72 +42,72 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portBYTE_ALIGNMENT 4 #define portBYTE_ALIGNMENT 4
#define portSTACK_GROWTH -1 #define portSTACK_GROWTH -1
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulPortSetIPL( uint32_t ); uint32_t ulPortSetIPL( uint32_t );
#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) #define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 ) #define portENABLE_INTERRUPTS() ulPortSetIPL( 0 )
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
extern UBaseType_t uxPortSetInterruptMaskFromISR( void ); extern UBaseType_t uxPortSetInterruptMaskFromISR( void );
extern void vPortClearInterruptMaskFromISR( UBaseType_t ); extern void vPortClearInterruptMaskFromISR( UBaseType_t );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY ) #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
#define portNOP() asm volatile ( "nop" ) #define portNOP() asm volatile ( "nop" )
/* Note this will overwrite all other bits in the force register, it is done this way for speed. */ /* 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() /* -32 as we are using the high word of the 64bit mask. */ #define portYIELD() MCF_INTC0_INTFRCL = ( 1UL << configYIELD_INTERRUPT_VECTOR ); portNOP(); portNOP() /* -32 as we are using the high word of the 64bit mask. */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* 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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) __attribute__( ( noreturn ) )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \ #define portEND_SWITCHING_ISR( xSwitchRequired ) \
{ \ if( xSwitchRequired != pdFALSE ) \
portYIELD(); \ { \
} portYIELD(); \
}
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

240
portable/CodeWarrior/HCS12/port.c
View file

@ -30,137 +30,139 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the HCS12 port. * Implementation of functions defined in portable.h for the HCS12 port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* /*
* Configure a timer to generate the RTOS tick at the frequency specified * Configure a timer to generate the RTOS tick at the frequency specified
* within FreeRTOSConfig.h. * within FreeRTOSConfig.h.
*/ */
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/* Interrupt service routines have to be in non-banked memory - as does the /* Interrupt service routines have to be in non-banked memory - as does the
scheduler startup function. */ * scheduler startup function. */
#pragma CODE_SEG __NEAR_SEG NON_BANKED #pragma CODE_SEG __NEAR_SEG NON_BANKED
/* Manual context switch function. This is the SWI ISR. */ /* Manual context switch function. This is the SWI ISR. */
void interrupt vPortYield( void ); void interrupt vPortYield( void );
/* Tick context switch function. This is the timer ISR. */ /* Tick context switch function. This is the timer ISR. */
void interrupt vPortTickInterrupt( void ); void interrupt vPortTickInterrupt( void );
/* Simply called by xPortStartScheduler(). xPortStartScheduler() does not /* Simply called by xPortStartScheduler(). xPortStartScheduler() does not
start the scheduler directly because the header file containing the * start the scheduler directly because the header file containing the
xPortStartScheduler() prototype is part of the common kernel code, and * xPortStartScheduler() prototype is part of the common kernel code, and
therefore cannot use the CODE_SEG pragma. */ * therefore cannot use the CODE_SEG pragma. */
static BaseType_t xBankedStartScheduler( void ); static BaseType_t xBankedStartScheduler( void );
#pragma CODE_SEG DEFAULT #pragma CODE_SEG DEFAULT
/* Calls to portENTER_CRITICAL() can be nested. When they are nested the /* 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) * 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 * until the nesting depth reaches 0. This variable simply tracks the nesting
depth. Each task maintains it's own critical nesting depth variable so * depth. Each task maintains it's own critical nesting depth variable so
uxCriticalNesting is saved and restored from the task stack during a context * uxCriticalNesting is saved and restored from the task stack during a context
switch. */ * switch. */
volatile UBaseType_t uxCriticalNesting = 0xff; volatile UBaseType_t uxCriticalNesting = 0xff;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
/* /*
Place a few bytes of known values on the bottom of the stack. * Place a few bytes of known values on the bottom of the stack.
This can be uncommented to provide useful stack markers when debugging. * This can be uncommented to provide useful stack markers when debugging.
*
*pxTopOfStack = ( StackType_t ) 0x11; * pxTopOfStack = ( StackType_t ) 0x11;
pxTopOfStack--; * pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x22; * pxTopOfStack = ( StackType_t ) 0x22;
pxTopOfStack--; * pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x33; * pxTopOfStack = ( StackType_t ) 0x33;
pxTopOfStack--; * pxTopOfStack--;
*/ */
/* Setup the initial stack of the task. The stack is set exactly as /* 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 portRESTORE_CONTEXT() macro. In this case the stack as
expected by the HCS12 RTI instruction. */ * expected by the HCS12 RTI instruction. */
/* The address of the task function is placed in the stack byte at a time. */ /* 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 ) ) + 1 );
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 0 ); *pxTopOfStack = ( StackType_t ) *( ( ( StackType_t * ) ( &pxCode ) ) + 0 );
pxTopOfStack--; pxTopOfStack--;
/* Next are all the registers that form part of the task context. */ /* Next are all the registers that form part of the task context. */
/* Y register */ /* Y register */
*pxTopOfStack = ( StackType_t ) 0xff; *pxTopOfStack = ( StackType_t ) 0xff;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xee; *pxTopOfStack = ( StackType_t ) 0xee;
pxTopOfStack--; pxTopOfStack--;
/* X register */ /* X register */
*pxTopOfStack = ( StackType_t ) 0xdd; *pxTopOfStack = ( StackType_t ) 0xdd;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xcc; *pxTopOfStack = ( StackType_t ) 0xcc;
pxTopOfStack--; pxTopOfStack--;
/* A register contains parameter high byte. */
*pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 0 );
pxTopOfStack--;
/* B register contains parameter low byte. */ /* A register contains parameter high byte. */
*pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 1 ); *pxTopOfStack = ( StackType_t ) *( ( ( StackType_t * ) ( &pvParameters ) ) + 0 );
pxTopOfStack--; pxTopOfStack--;
/* CCR: Note that when the task starts interrupts will be enabled since /* B register contains parameter low byte. */
"I" bit of CCR is cleared */ *pxTopOfStack = ( StackType_t ) *( ( ( StackType_t * ) ( &pvParameters ) ) + 1 );
*pxTopOfStack = ( StackType_t ) 0x00; pxTopOfStack--;
pxTopOfStack--;
#ifdef BANKED_MODEL
/* The page of the task. */
*pxTopOfStack = ( StackType_t ) ( ( int ) pxCode );
pxTopOfStack--;
#endif
/* Finally the critical nesting depth is initialised with 0 (not within
a critical section). */
*pxTopOfStack = ( StackType_t ) 0x00;
return pxTopOfStack; /* CCR: Note that when the task starts interrupts will be enabled since
* "I" bit of CCR is cleared */
*pxTopOfStack = ( StackType_t ) 0x00;
pxTopOfStack--;
#ifdef BANKED_MODEL
/* The page of the task. */
*pxTopOfStack = ( StackType_t ) ( ( int ) pxCode );
pxTopOfStack--;
#endif
/* Finally the critical nesting depth is initialised with 0 (not within
* a critical section). */
*pxTopOfStack = ( StackType_t ) 0x00;
return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the HCS12 port will get stopped. */ /* It is unlikely that the HCS12 port will get stopped. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
TickTimer_SetFreqHz( configTICK_RATE_HZ ); TickTimer_SetFreqHz( configTICK_RATE_HZ );
TickTimer_Enable(); TickTimer_Enable();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
/* xPortStartScheduler() does not start the scheduler directly because /* xPortStartScheduler() does not start the scheduler directly because
the header file containing the xPortStartScheduler() prototype is part * the header file containing the xPortStartScheduler() prototype is part
of the common kernel code, and therefore cannot use the CODE_SEG pragma. * of the common kernel code, and therefore cannot use the CODE_SEG pragma.
Instead it simply calls the locally defined xBankedStartScheduler() - * Instead it simply calls the locally defined xBankedStartScheduler() -
which does use the CODE_SEG pragma. */ * which does use the CODE_SEG pragma. */
return xBankedStartScheduler(); return xBankedStartScheduler();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -168,18 +170,18 @@ BaseType_t xPortStartScheduler( void )
static BaseType_t xBankedStartScheduler( void ) static BaseType_t xBankedStartScheduler( void )
{ {
/* Configure the timer that will generate the RTOS tick. Interrupts are /* Configure the timer that will generate the RTOS tick. Interrupts are
disabled when this function is called. */ * disabled when this function is called. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Restore the context of the first task. */ /* Restore the context of the first task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
/* Simulate the end of an interrupt to start the scheduler off. */ /* Simulate the end of an interrupt to start the scheduler off. */
__asm( "rti" ); __asm( "rti" );
/* Should not get here! */ /* Should not get here! */
return pdFALSE; return pdFALSE;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -193,44 +195,42 @@ static BaseType_t xBankedStartScheduler( void )
*/ */
void interrupt vPortYield( void ) void interrupt vPortYield( void )
{ {
portSAVE_CONTEXT(); portSAVE_CONTEXT();
vTaskSwitchContext(); vTaskSwitchContext();
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* RTOS tick interrupt service routine. If the cooperative scheduler is * RTOS tick interrupt service routine. If the cooperative scheduler is
* being used then this simply increments the tick count. If the * being used then this simply increments the tick count. If the
* preemptive scheduler is being used a context switch can occur. * preemptive scheduler is being used a context switch can occur.
*/ */
void interrupt vPortTickInterrupt( void ) void interrupt vPortTickInterrupt( void )
{ {
#if configUSE_PREEMPTION == 1 #if configUSE_PREEMPTION == 1
{ {
/* A context switch might happen so save the context. */ /* A context switch might happen so save the context. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Increment the tick ... */ /* Increment the tick ... */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
vTaskSwitchContext(); vTaskSwitchContext();
} }
TFLG1 = 1; TFLG1 = 1;
/* Restore the context of a task - which may be a different task /* Restore the context of a task - which may be a different task
to that interrupted. */ * to that interrupted. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
#else #else /* if configUSE_PREEMPTION == 1 */
{ {
xTaskIncrementTick(); xTaskIncrementTick();
TFLG1 = 1; TFLG1 = 1;
} }
#endif #endif /* if configUSE_PREEMPTION == 1 */
} }
#pragma CODE_SEG DEFAULT #pragma CODE_SEG DEFAULT

212
portable/CodeWarrior/HCS12/portmacro.h
View file

@ -39,38 +39,38 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint8_t #define portSTACK_TYPE uint8_t
#define portBASE_TYPE char #define portBASE_TYPE char
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef signed char BaseType_t; typedef signed char BaseType_t;
typedef unsigned char UBaseType_t; typedef unsigned char UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portBYTE_ALIGNMENT 1 #define portBYTE_ALIGNMENT 1
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portYIELD() __asm( "swi" ); #define portYIELD() __asm( "swi" );
#define portNOP() __asm( "nop" ); #define portNOP() __asm( "nop" );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section handling. */ /* Critical section handling. */
#define portENABLE_INTERRUPTS() __asm( "cli" ) #define portENABLE_INTERRUPTS() __asm( "cli" )
#define portDISABLE_INTERRUPTS() __asm( "sei" ) #define portDISABLE_INTERRUPTS() __asm( "sei" )
/* /*
* Disable interrupts before incrementing the count of critical section nesting. * Disable interrupts before incrementing the count of critical section nesting.
@ -78,29 +78,29 @@ typedef unsigned char UBaseType_t;
* re-enabled. Once interrupts are disabled the nesting count can be accessed * re-enabled. Once interrupts are disabled the nesting count can be accessed
* directly. Each task maintains its own nesting count. * directly. Each task maintains its own nesting count.
*/ */
#define portENTER_CRITICAL() \ #define portENTER_CRITICAL() \
{ \ { \
extern volatile UBaseType_t uxCriticalNesting; \ extern volatile UBaseType_t uxCriticalNesting; \
\ \
portDISABLE_INTERRUPTS(); \ portDISABLE_INTERRUPTS(); \
uxCriticalNesting++; \ uxCriticalNesting++; \
} }
/* /*
* Interrupts are disabled so we can access the nesting count directly. If the * 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 * nesting is found to be 0 (no nesting) then we are leaving the critical
* section and interrupts can be re-enabled. * section and interrupts can be re-enabled.
*/ */
#define portEXIT_CRITICAL() \ #define portEXIT_CRITICAL() \
{ \ { \
extern volatile UBaseType_t uxCriticalNesting; \ extern volatile UBaseType_t uxCriticalNesting; \
\ \
uxCriticalNesting--; \ uxCriticalNesting--; \
if( uxCriticalNesting == 0 ) \ if( uxCriticalNesting == 0 ) \
{ \ { \
portENABLE_INTERRUPTS(); \ portENABLE_INTERRUPTS(); \
} \ } \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
@ -116,70 +116,71 @@ typedef unsigned char UBaseType_t;
*/ */
#ifdef BANKED_MODEL #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() \
{ \
extern volatile void * pxCurrentTCB; \
extern volatile UBaseType_t uxCriticalNesting; \
\
__asm( "ldx pxCurrentTCB" ); \
__asm( "lds 0, x" ); \
__asm( "pula" ); \
__asm( "staa uxCriticalNesting" ); \
__asm( "pula" ); \
__asm( "staa 0x30" ); /* 0x30 = PPAGE */ \
}
/* /*
* By the time this macro is called the processor has already stacked the * Load the stack pointer for the task, then pull the critical nesting
* registers. Simply stack the nesting count and PPAGE value, then save * count and PPAGE register from the stack. The remains of the
* the task stack pointer. * context are restored by the RTI instruction.
*/ */
#define portSAVE_CONTEXT() \ #define portRESTORE_CONTEXT() \
{ \ { \
extern volatile void * pxCurrentTCB; \ extern volatile void * pxCurrentTCB; \
extern volatile UBaseType_t uxCriticalNesting; \ extern volatile UBaseType_t uxCriticalNesting; \
\ \
__asm( "ldaa 0x30" ); /* 0x30 = PPAGE */ \ __asm( "ldx pxCurrentTCB" ); \
__asm( "psha" ); \ __asm( "lds 0, x" ); \
__asm( "ldaa uxCriticalNesting" ); \ __asm( "pula" ); \
__asm( "psha" ); \ __asm( "staa uxCriticalNesting" ); \
__asm( "ldx pxCurrentTCB" ); \ __asm( "pula" ); \
__asm( "sts 0, x" ); \ __asm( "staa 0x30" ); /* 0x30 = PPAGE */ \
} }
#else
/* /*
* These macros are as per the BANKED versions above, but without saving * By the time this macro is called the processor has already stacked the
* and restoring the PPAGE register. * registers. Simply stack the nesting count and PPAGE value, then save
*/ * the task stack pointer.
*/
#define portSAVE_CONTEXT() \
{ \
extern volatile void * pxCurrentTCB; \
extern volatile UBaseType_t uxCriticalNesting; \
\
__asm( "ldaa 0x30" ); /* 0x30 = PPAGE */ \
__asm( "psha" ); \
__asm( "ldaa uxCriticalNesting" ); \
__asm( "psha" ); \
__asm( "ldx pxCurrentTCB" ); \
__asm( "sts 0, x" ); \
}
#else /* ifdef BANKED_MODEL */
#define portRESTORE_CONTEXT() \ /*
{ \ * These macros are as per the BANKED versions above, but without saving
extern volatile void * pxCurrentTCB; \ * and restoring the PPAGE register.
extern volatile UBaseType_t uxCriticalNesting; \ */
\
__asm( "ldx pxCurrentTCB" ); \
__asm( "lds 0, x" ); \
__asm( "pula" ); \
__asm( "staa uxCriticalNesting" ); \
}
#define portSAVE_CONTEXT() \ #define portRESTORE_CONTEXT() \
{ \ { \
extern volatile void * pxCurrentTCB; \ extern volatile void * pxCurrentTCB; \
extern volatile UBaseType_t uxCriticalNesting; \ extern volatile UBaseType_t uxCriticalNesting; \
\ \
__asm( "ldaa uxCriticalNesting" ); \ __asm( "ldx pxCurrentTCB" ); \
__asm( "psha" ); \ __asm( "lds 0, x" ); \
__asm( "ldx pxCurrentTCB" ); \ __asm( "pula" ); \
__asm( "sts 0, x" ); \ __asm( "staa uxCriticalNesting" ); \
} }
#endif
#define portSAVE_CONTEXT() \
{ \
extern volatile void * pxCurrentTCB; \
extern volatile UBaseType_t uxCriticalNesting; \
\
__asm( "ldaa uxCriticalNesting" ); \
__asm( "psha" ); \
__asm( "ldx pxCurrentTCB" ); \
__asm( "sts 0, x" ); \
}
#endif /* ifdef BANKED_MODEL */
/* /*
* Utility macro to call macros above in correct order in order to perform a * Utility macro to call macros above in correct order in order to perform a
@ -187,15 +188,14 @@ typedef unsigned char UBaseType_t;
* the ISR does not use any local (stack) variables. If the ISR uses stack * the ISR does not use any local (stack) variables. If the ISR uses stack
* variables portYIELD() should be used in it's place. * variables portYIELD() should be used in it's place.
*/ */
#define portTASK_SWITCH_FROM_ISR() \ #define portTASK_SWITCH_FROM_ISR() \
portSAVE_CONTEXT(); \ portSAVE_CONTEXT(); \
vTaskSwitchContext(); \ vTaskSwitchContext(); \
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

1754
portable/Common/mpu_wrappers.c
View file

File diff suppressed because it is too large Load diff

277
portable/GCC/ARM7_AT91FR40008/port.c
View file

@ -26,13 +26,13 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the Atmel AT91R40008 * Implementation of functions defined in portable.h for the Atmel AT91R40008
* port. * port.
* *
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in this file. The ISR routines, which can only be compiled * contained in this file. The ISR routines, which can only be compiled
* to ARM mode are contained in portISR.c. * to ARM mode are contained in portISR.c.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Standard includes. */ /* Standard includes. */
#include <stdlib.h> #include <stdlib.h>
@ -48,124 +48,126 @@
#include "tc.h" #include "tc.h"
/* Constants required to setup the task context. */ /* Constants required to setup the task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) #define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) #define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 )
#define portTICK_PRIORITY_6 ( 6 ) #define portTICK_PRIORITY_6 ( 6 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */ /* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/* /*
* The scheduler can only be started from ARM mode, so * The scheduler can only be started from ARM mode, so
* vPortISRStartFirstSTask() is defined in portISR.c. * vPortISRStartFirstSTask() is defined in portISR.c.
*/ */
extern void vPortISRStartFirstTask( void ); extern void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Initialise the stack of a task to look exactly as if a call to * Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called. * portSAVE_CONTEXT had been called.
* *
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t *pxOriginalTOS; StackType_t * pxOriginalTOS;
pxOriginalTOS = pxTopOfStack; 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 /* To ensure asserts in tasks.c don't fail, although in this case the assert
expected by the portRESTORE_CONTEXT() macro. */ * is not really required. */
pxTopOfStack--;
/* First on the stack is the return address - which in this case is the /* Setup the initial stack of the task. The stack is set exactly as
start of the task. The offset is added to make the return address appear * expected by the portRESTORE_CONTEXT() macro. */
as it would within an IRQ ISR. */
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ /* First on the stack is the return address - which in this case is the
pxTopOfStack--; * start of the task. The offset is added to make the return address appear
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ * as it would within an IRQ ISR. */
pxTopOfStack--; *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ pxTopOfStack--;
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 *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */
R0. */ pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--; 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--;
/* The last thing onto the stack is the status register, which is set for /* When the task starts is will expect to find the function parameter in
system mode, with interrupts enabled. */ * R0. */
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
#ifdef THUMB_INTERWORK /* The last thing onto the stack is the status register, which is set for
{ * system mode, with interrupts enabled. */
/* We want the task to start in thumb mode. */ *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
#endif
pxTopOfStack--; #ifdef THUMB_INTERWORK
{
/* We want the task to start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
#endif
/* Some optimisation levels use the stack differently to others. This pxTopOfStack--;
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; /* 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 ) BaseType_t xPortStartScheduler( void )
{ {
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */ * here already. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Start the first task. */ /* Start the first task. */
vPortISRStartFirstTask(); vPortISRStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the ARM port will require this function as there /* It is unlikely that the ARM port will require this function as there
is nothing to return to. */ * is nothing to return to. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -174,64 +176,63 @@ void vPortEndScheduler( void )
*/ */
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
volatile uint32_t ulDummy; volatile uint32_t ulDummy;
/* Enable clock to the tick timer... */ /* Enable clock to the tick timer... */
AT91C_BASE_PS->PS_PCER = portTIMER_CLK_ENABLE_BIT; AT91C_BASE_PS->PS_PCER = portTIMER_CLK_ENABLE_BIT;
/* Stop the tick timer... */ /* Stop the tick timer... */
portTIMER_REG_BASE_PTR->TC_CCR = TC_CLKDIS; portTIMER_REG_BASE_PTR->TC_CCR = TC_CLKDIS;
/* Start with tick timer interrupts disabled... */ /* Start with tick timer interrupts disabled... */
portTIMER_REG_BASE_PTR->TC_IDR = 0xFFFFFFFF; portTIMER_REG_BASE_PTR->TC_IDR = 0xFFFFFFFF;
/* Clear any pending tick timer interrupts... */ /* Clear any pending tick timer interrupts... */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR; ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
/* Store interrupt handler function address in tick timer vector register... /* Store interrupt handler function address in tick timer vector register...
The ISR installed depends on whether the preemptive or cooperative * The ISR installed depends on whether the preemptive or cooperative
scheduler is being used. */ * scheduler is being used. */
#if configUSE_PREEMPTION == 1 #if configUSE_PREEMPTION == 1
{ {
extern void ( vPreemptiveTick )( void ); extern void( vPreemptiveTick )( void );
AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vPreemptiveTick; AT91C_BASE_AIC->AIC_SVR[ portTIMER_AIC_CHANNEL ] = ( uint32_t ) vPreemptiveTick;
} }
#else // else use cooperative scheduler #else // else use cooperative scheduler
{ {
extern void ( vNonPreemptiveTick )( void ); extern void( vNonPreemptiveTick )( void );
AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vNonPreemptiveTick; AT91C_BASE_AIC->AIC_SVR[ portTIMER_AIC_CHANNEL ] = ( uint32_t ) vNonPreemptiveTick;
} }
#endif #endif
/* Tick timer interrupt level-sensitive, priority 6... */ /* Tick timer interrupt level-sensitive, priority 6... */
AT91C_BASE_AIC->AIC_SMR[ portTIMER_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | portTICK_PRIORITY_6; AT91C_BASE_AIC->AIC_SMR[ portTIMER_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | portTICK_PRIORITY_6;
/* Enable the tick timer interrupt... /* Enable the tick timer interrupt...
*
* First at timer level */
portTIMER_REG_BASE_PTR->TC_IER = TC_CPCS;
First at timer level */ /* Then at the AIC level. */
portTIMER_REG_BASE_PTR->TC_IER = TC_CPCS; AT91C_BASE_AIC->AIC_IECR = ( 1 << portTIMER_AIC_CHANNEL );
/* Then at the AIC level. */ /* Calculate timer compare value to achieve the desired tick rate... */
AT91C_BASE_AIC->AIC_IECR = (1 << portTIMER_AIC_CHANNEL); 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 );
}
/* Calculate timer compare value to achieve the desired tick rate... */ /* Start tick timer... */
if( (configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2) ) <= 0xFFFF ) portTIMER_REG_BASE_PTR->TC_CCR = TC_SWTRG | TC_CLKEN;
{
/* 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;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

239
portable/GCC/ARM7_AT91FR40008/portISR.c
View file

@ -26,17 +26,17 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in port.c The ISR routines, which can only be compiled * contained in port.c The ISR routines, which can only be compiled
* to ARM mode, are contained in this file. * to ARM mode, are contained in this file.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* /*
Changes from V3.2.4 * Changes from V3.2.4
*
+ The assembler statements are now included in a single asm block rather + The assembler statements are now included in a single asm block rather
than each line having its own asm block. + than each line having its own asm block.
*/ */
/* Scheduler includes. */ /* Scheduler includes. */
@ -44,18 +44,18 @@
#include "task.h" #include "task.h"
/* Constants required to handle interrupts. */ /* Constants required to handle interrupts. */
#define portCLEAR_AIC_INTERRUPT ( ( uint32_t ) 0 ) #define portCLEAR_AIC_INTERRUPT ( ( uint32_t ) 0 )
/* Constants required to handle critical sections. */ /* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL; volatile uint32_t ulCriticalNesting = 9999UL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* ISR to handle manual context switches (from a call to taskYIELD()). */ /* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); void vPortYieldProcessor( void ) __attribute__( ( interrupt( "SWI" ), naked ) );
/* /*
* The scheduler can only be started from ARM mode, hence the inclusion of this * The scheduler can only be started from ARM mode, hence the inclusion of this
* function here. * function here.
*/ */
@ -64,93 +64,93 @@ void vPortISRStartFirstTask( void );
void vPortISRStartFirstTask( void ) void vPortISRStartFirstTask( void )
{ {
/* Simply start the scheduler. This is included here as it can only be /* Simply start the scheduler. This is included here as it can only be
called from ARM mode. */ * called from ARM mode. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Called by portYIELD() or taskYIELD() to manually force a context switch. * Called by portYIELD() or taskYIELD() to manually force a context switch.
* *
* When a context switch is performed from the task level the saved task * 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 * 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 * 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. * saved from the ISR or that saved from a call to vPortYieldProcessor.
*/ */
void vPortYieldProcessor( void ) void vPortYieldProcessor( void )
{ {
/* Within an IRQ ISR the link register has an offset from the true return /* 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 * address, but an SWI ISR does not. Add the offset manually so the same
ISR return code can be used in both cases. */ * ISR return code can be used in both cases. */
asm volatile ( "ADD LR, LR, #4" ); asm volatile ( "ADD LR, LR, #4");
/* Perform the context switch. First save the context of the current task. */ /* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Find the highest priority task that is ready to run. */ /* Find the highest priority task that is ready to run. */
vTaskSwitchContext(); vTaskSwitchContext();
/* Restore the context of the new task. */ /* Restore the context of the new task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* The ISR used for the scheduler tick depends on whether the cooperative or * The ISR used for the scheduler tick depends on whether the cooperative or
* the preemptive scheduler is being used. * the preemptive scheduler is being used.
*/ */
#if configUSE_PREEMPTION == 0 #if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to /* The cooperative scheduler requires a normal IRQ service routine to
simply increment the system tick. */ * simply increment the system tick. */
void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); void vNonPreemptiveTick( void ) __attribute__( ( interrupt( "IRQ" ) ) );
void vNonPreemptiveTick( void ) void vNonPreemptiveTick( void )
{ {
static volatile uint32_t ulDummy; static volatile uint32_t ulDummy;
/* Clear tick timer interrupt indication. */ /* Clear tick timer interrupt indication. */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR; ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
xTaskIncrementTick(); xTaskIncrementTick();
/* Acknowledge the interrupt at AIC level... */ /* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT; AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
} }
#else /* else preemption is turned on */ #else /* else preemption is turned on */
/* The preemptive scheduler is defined as "naked" as the full context is /* The preemptive scheduler is defined as "naked" as the full context is
saved on entry as part of the context switch. */ * saved on entry as part of the context switch. */
void vPreemptiveTick( void ) __attribute__((naked)); void vPreemptiveTick( void ) __attribute__( ( naked ) );
void vPreemptiveTick( void ) void vPreemptiveTick( void )
{ {
/* Save the context of the interrupted task. */ /* Save the context of the interrupted task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* WARNING - Do not use local (stack) variables here. Use globals /* WARNING - Do not use local (stack) variables here. Use globals
if you must! */ * if you must! */
static volatile uint32_t ulDummy; static volatile uint32_t ulDummy;
/* Clear tick timer interrupt indication. */ /* Clear tick timer interrupt indication. */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR; ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
/* Increment the RTOS tick count, then look for the highest priority /* Increment the RTOS tick count, then look for the highest priority
task that is ready to run. */ * task that is ready to run. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
vTaskSwitchContext(); vTaskSwitchContext();
} }
/* Acknowledge the interrupt at AIC level... */ /* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT; AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
/* Restore the context of the new task. */ /* Restore the context of the new task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
#endif #endif /* if configUSE_PREEMPTION == 0 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -161,72 +161,71 @@ void vPortYieldProcessor( void )
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortDisableInterruptsFromThumb( void ) void vPortDisableInterruptsFromThumb( void )
{ {
asm volatile ( asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
void vPortEnableInterruptsFromThumb( void ) void vPortEnableInterruptsFromThumb( void )
{ {
asm volatile ( asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
/* The code generated by the GCC compiler uses the stack in different ways at /* The code generated by the GCC compiler uses the stack in different ways at
different optimisation levels. The interrupt flags can therefore not always * different optimisation levels. The interrupt flags can therefore not always
be saved to the stack. Instead the critical section nesting level is stored * 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. */ * in a variable, which is then saved as part of the stack context. */
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */ /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
asm volatile ( asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times * directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
} }
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > portNO_CRITICAL_NESTING ) if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{ {
/* Decrement the nesting count as we are leaving a critical section. */ /* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be /* If the nesting level has reached zero then interrupts should be
re-enabled. */ * re-enabled. */
if( ulCriticalNesting == portNO_CRITICAL_NESTING ) if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{ {
/* Enable interrupts as per portEXIT_CRITICAL(). */ /* Enable interrupts as per portEXIT_CRITICAL(). */
asm volatile ( asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
} }
} }
} }

323
portable/GCC/ARM7_AT91FR40008/portmacro.h
View file

@ -25,34 +25,34 @@
*/ */
/* /*
Changes from V3.2.3 * Changes from V3.2.3
*
+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. + Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
+
Changes from V3.2.4 + Changes from V3.2.4
+
+ Removed the use of the %0 parameter within the assembler macros and + Removed the use of the %0 parameter within the assembler macros and
replaced them with hard coded registers. This will ensure the + replaced them with hard coded registers. This will ensure the
assembler does not select the link register as the temp register as + assembler does not select the link register as the temp register as
was occasionally happening previously. + was occasionally happening previously.
+
+ The assembler statements are now included in a single asm block rather + The assembler statements are now included in a single asm block rather
than each line having its own asm block. + than each line having its own asm block.
+
Changes from V4.5.0 + Changes from V4.5.0
+
+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros + Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
and replaced them with portYIELD_FROM_ISR() macro. Application code + and replaced them with portYIELD_FROM_ISR() macro. Application code
should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() + should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
macros as per the V4.5.1 demo code. + macros as per the V4.5.1 demo code.
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -65,42 +65,42 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portYIELD() asm volatile ( "SWI 0" ) #define portYIELD() asm volatile ( "SWI 0" )
#define portNOP() asm volatile ( "NOP" ) #define portNOP() asm volatile ( "NOP" )
/* /*
* These define the timer to use for generating the tick interrupt. * 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" * They are put in this file so they can be shared between "port.c"
* and "portisr.c". * and "portisr.c".
*/ */
#define portTIMER_REG_BASE_PTR AT91C_BASE_TC0 #define portTIMER_REG_BASE_PTR AT91C_BASE_TC0
#define portTIMER_CLK_ENABLE_BIT AT91C_PS_TC0 #define portTIMER_CLK_ENABLE_BIT AT91C_PS_TC0
#define portTIMER_AIC_CHANNEL ( ( uint32_t ) 4 ) #define portTIMER_AIC_CHANNEL ( ( uint32_t ) 4 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
@ -112,90 +112,90 @@ typedef unsigned long UBaseType_t;
* THUMB mode code will result in a compile time error. * THUMB mode code will result in a compile time error.
*/ */
#define portRESTORE_CONTEXT() \ #define portRESTORE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Set the LR to the task stack. */ \ /* Set the LR to the task stack. */ \
asm volatile ( \ asm volatile ( \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"LDR LR, [R0] \n\t" \ "LDR LR, [R0] \n\t"\
\ \
/* The critical nesting depth is the first item on the stack. */ \ /* The critical nesting depth is the first item on the stack. */ \
/* Load it into the ulCriticalNesting variable. */ \ /* Load it into the ulCriticalNesting variable. */ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDMFD LR!, {R1} \n\t" \ "LDMFD LR!, {R1} \n\t"\
"STR R1, [R0] \n\t" \ "STR R1, [R0] \n\t"\
\ \
/* Get the SPSR from the stack. */ \ /* Get the SPSR from the stack. */ \
"LDMFD LR!, {R0} \n\t" \ "LDMFD LR!, {R0} \n\t"\
"MSR SPSR, R0 \n\t" \ "MSR SPSR, R0 \n\t"\
\ \
/* Restore all system mode registers for the task. */ \ /* Restore all system mode registers for the task. */ \
"LDMFD LR, {R0-R14}^ \n\t" \ "LDMFD LR, {R0-R14}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
\ \
/* Restore the return address. */ \ /* Restore the return address. */ \
"LDR LR, [LR, #+60] \n\t" \ "LDR LR, [LR, #+60] \n\t"\
\ \
/* And return - correcting the offset in the LR to obtain the */ \ /* And return - correcting the offset in the LR to obtain the */ \
/* correct address. */ \ /* correct address. */ \
"SUBS PC, LR, #4 \n\t" \ "SUBS PC, LR, #4 \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portSAVE_CONTEXT() \ #define portSAVE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Push R0 as we are going to use the register. */ \ /* Push R0 as we are going to use the register. */ \
asm volatile ( \ asm volatile ( \
"STMDB SP!, {R0} \n\t" \ "STMDB SP!, {R0} \n\t"\
\ \
/* Set R0 to point to the task stack pointer. */ \ /* Set R0 to point to the task stack pointer. */ \
"STMDB SP,{SP}^ \n\t" \ "STMDB SP,{SP}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB SP, SP, #4 \n\t" \ "SUB SP, SP, #4 \n\t"\
"LDMIA SP!,{R0} \n\t" \ "LDMIA SP!,{R0} \n\t"\
\ \
/* Push the return address onto the stack. */ \ /* Push the return address onto the stack. */ \
"STMDB R0!, {LR} \n\t" \ "STMDB R0!, {LR} \n\t"\
\ \
/* Now we have saved LR we can use it instead of R0. */ \ /* Now we have saved LR we can use it instead of R0. */ \
"MOV LR, R0 \n\t" \ "MOV LR, R0 \n\t"\
\ \
/* Pop R0 so we can save it onto the system mode stack. */ \ /* Pop R0 so we can save it onto the system mode stack. */ \
"LDMIA SP!, {R0} \n\t" \ "LDMIA SP!, {R0} \n\t"\
\ \
/* Push all the system mode registers onto the task stack. */ \ /* Push all the system mode registers onto the task stack. */ \
"STMDB LR,{R0-LR}^ \n\t" \ "STMDB LR,{R0-LR}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB LR, LR, #60 \n\t" \ "SUB LR, LR, #60 \n\t"\
\ \
/* Push the SPSR onto the task stack. */ \ /* Push the SPSR onto the task stack. */ \
"MRS R0, SPSR \n\t" \ "MRS R0, SPSR \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
/* Store the new top of stack for the task. */ \ /* Store the new top of stack for the task. */ \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STR LR, [R0] \n\t" \ "STR LR, [R0] \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
#define portYIELD_FROM_ISR() vTaskSwitchContext() #define portYIELD_FROM_ISR() vTaskSwitchContext()
/* Critical section handling. */ /* Critical section handling. */
@ -206,49 +206,48 @@ extern volatile uint32_t ulCriticalNesting; \
* defined then the utilities are defined as macros here - as per other ports. * defined then the utilities are defined as macros here - as per other ports.
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb()
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb()
#else #else
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
asm volatile ( \ asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#define portENABLE_INTERRUPTS() \ #define portENABLE_INTERRUPTS() \
asm volatile ( \ asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

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portable/GCC/ARM7_AT91SAM7S/lib_AT91SAM7X256.c
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@ -1,51 +1,50 @@
//* ---------------------------------------------------------------------------- /** ---------------------------------------------------------------------------- */
//* ATMEL Microcontroller Software Support - ROUSSET - /** ATMEL Microcontroller Software Support - ROUSSET - */
//* ---------------------------------------------------------------------------- /** ---------------------------------------------------------------------------- */
//* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR /** DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR */
//* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF /** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF */
//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE /** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE */
//* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, /** DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, */
//* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT /** INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT */
//* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, /** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, */
//* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF /** OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */
//* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING /** LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */
//* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, /** NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, */
//* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
//* ---------------------------------------------------------------------------- /** ---------------------------------------------------------------------------- */
//* File Name : lib_AT91SAM7X256.h /** File Name : lib_AT91SAM7X256.h */
//* Object : AT91SAM7X256 inlined functions /** Object : AT91SAM7X256 inlined functions */
//* Generated : AT91 SW Application Group 05/20/2005 (16:22:29) /** 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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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// /** CVS Reference : /lib_pdc.h/1.2/Tue Jul 2 13:29:40 2002// */
//* ---------------------------------------------------------------------------- /** ---------------------------------------------------------------------------- */
#include "AT91SAM7X256.h" #include "AT91SAM7X256.h"
//*---------------------------------------------------------------------------- /**---------------------------------------------------------------------------- */
//* \fn AT91F_AIC_ConfigureIt /** \fn AT91F_AIC_ConfigureIt */
//* \brief Interrupt Handler Initialization /** \brief Interrupt Handler Initialization */
//*---------------------------------------------------------------------------- /**---------------------------------------------------------------------------- */

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portable/GCC/ARM7_AT91SAM7S/port.c
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@ -26,12 +26,12 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM7 port. * Implementation of functions defined in portable.h for the ARM7 port.
* *
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in this file. The ISR routines, which can only be compiled * contained in this file. The ISR routines, which can only be compiled
* to ARM mode are contained in portISR.c. * to ARM mode are contained in portISR.c.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Standard includes. */ /* Standard includes. */
#include <stdlib.h> #include <stdlib.h>
@ -44,137 +44,139 @@
#include "AT91SAM7X256.h" #include "AT91SAM7X256.h"
/* Constants required to setup the task context. */ /* Constants required to setup the task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) #define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) #define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 )
/* Constants required to setup the tick ISR. */ /* Constants required to setup the tick ISR. */
#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) #define portENABLE_TIMER ( ( uint8_t ) 0x01 )
#define portPRESCALE_VALUE 0x00 #define portPRESCALE_VALUE 0x00
#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) #define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 )
#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) #define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 )
/* Constants required to setup the PIT. */ /* Constants required to setup the PIT. */
#define portPIT_CLOCK_DIVISOR ( ( uint32_t ) 16 ) #define portPIT_CLOCK_DIVISOR ( ( uint32_t ) 16 )
#define portPIT_COUNTER_VALUE ( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS ) #define portPIT_COUNTER_VALUE ( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS )
#define portINT_LEVEL_SENSITIVE 0 #define portINT_LEVEL_SENSITIVE 0
#define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 ) #define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 )
#define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 ) #define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */ /* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/* /*
* The scheduler can only be started from ARM mode, so * The scheduler can only be started from ARM mode, so
* vPortISRStartFirstSTask() is defined in portISR.c. * vPortISRStartFirstSTask() is defined in portISR.c.
*/ */
extern void vPortISRStartFirstTask( void ); extern void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Initialise the stack of a task to look exactly as if a call to * Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called. * portSAVE_CONTEXT had been called.
* *
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t *pxOriginalTOS; StackType_t * pxOriginalTOS;
pxOriginalTOS = pxTopOfStack; pxOriginalTOS = pxTopOfStack;
/* To ensure asserts in tasks.c don't fail, although in this case the assert /* To ensure asserts in tasks.c don't fail, although in this case the assert
is not really required. */ * is not really required. */
pxTopOfStack--; pxTopOfStack--;
/* Setup the initial stack of the task. The stack is set exactly as /* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. */ * expected by the portRESTORE_CONTEXT() macro. */
/* First on the stack is the return address - which in this case is the /* 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 * start of the task. The offset is added to make the return address appear
as it would within an IRQ ISR. */ * as it would within an IRQ ISR. */
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
pxTopOfStack--; pxTopOfStack--;
/* When the task starts is will expect to find the function parameter in /* When the task starts is will expect to find the function parameter in
R0. */ * R0. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--; pxTopOfStack--;
/* The last thing onto the stack is the status register, which is set for /* The last thing onto the stack is the status register, which is set for
system mode, with interrupts enabled. */ * system mode, with interrupts enabled. */
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
{ {
/* We want the task to start in thumb mode. */ /* We want the task to start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT; *pxTopOfStack |= portTHUMB_MODE_BIT;
} }
#endif #endif
pxTopOfStack--; pxTopOfStack--;
/* Some optimisation levels use the stack differently to others. This /* Some optimisation levels use the stack differently to others. This
means the interrupt flags cannot always be stored on the stack and will * 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 * instead be stored in a variable, which is then saved as part of the
tasks context. */ * tasks context. */
*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */ * here already. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Start the first task. */ /* Start the first task. */
vPortISRStartFirstTask(); vPortISRStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the ARM port will require this function as there /* It is unlikely that the ARM port will require this function as there
is nothing to return to. */ * is nothing to return to. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -183,30 +185,23 @@ void vPortEndScheduler( void )
*/ */
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
AT91PS_PITC pxPIT = AT91C_BASE_PITC; AT91PS_PITC pxPIT = AT91C_BASE_PITC;
/* Setup the AIC for PIT interrupts. The interrupt routine chosen depends /* Setup the AIC for PIT interrupts. The interrupt routine chosen depends
on whether the preemptive or cooperative scheduler is being used. */ * on whether the preemptive or cooperative scheduler is being used. */
#if configUSE_PREEMPTION == 0 #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
extern void ( vNonPreemptiveTick ) ( void ); /* Configure the PIT period. */
AT91F_AIC_ConfigureIt( AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vNonPreemptiveTick ); pxPIT->PITC_PIMR = portPIT_ENABLE | portPIT_INT_ENABLE | portPIT_COUNTER_VALUE;
#else /* Enable the interrupt. Global interrupts are disables at this point so
* this is safe. */
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; AT91C_BASE_AIC->AIC_IECR = 0x1 << AT91C_ID_SYS;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

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portable/GCC/ARM7_AT91SAM7S/portISR.c
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@ -26,17 +26,17 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in port.c The ISR routines, which can only be compiled * contained in port.c The ISR routines, which can only be compiled
* to ARM mode, are contained in this file. * to ARM mode, are contained in this file.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* /*
Changes from V3.2.4 * Changes from V3.2.4
*
+ The assembler statements are now included in a single asm block rather + The assembler statements are now included in a single asm block rather
than each line having its own asm block. + than each line having its own asm block.
*/ */
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
@ -45,17 +45,17 @@
#include "AT91SAM7X256.h" #include "AT91SAM7X256.h"
/* Constants required to handle interrupts. */ /* Constants required to handle interrupts. */
#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) #define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 )
#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) #define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 )
/* Constants required to handle critical sections. */ /* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL; volatile uint32_t ulCriticalNesting = 9999UL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* ISR to handle manual context switches (from a call to taskYIELD()). */ /* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); void vPortYieldProcessor( void ) __attribute__( ( interrupt( "SWI" ), naked ) );
/* /*
* The scheduler can only be started from ARM mode, hence the inclusion of this * The scheduler can only be started from ARM mode, hence the inclusion of this
@ -66,9 +66,9 @@ void vPortISRStartFirstTask( void );
void vPortISRStartFirstTask( void ) void vPortISRStartFirstTask( void )
{ {
/* Simply start the scheduler. This is included here as it can only be /* Simply start the scheduler. This is included here as it can only be
called from ARM mode. */ * called from ARM mode. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -82,19 +82,19 @@ void vPortISRStartFirstTask( void )
*/ */
void vPortYieldProcessor( void ) void vPortYieldProcessor( void )
{ {
/* Within an IRQ ISR the link register has an offset from the true return /* 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 * address, but an SWI ISR does not. Add the offset manually so the same
ISR return code can be used in both cases. */ * ISR return code can be used in both cases. */
__asm volatile ( "ADD LR, LR, #4" ); __asm volatile ( "ADD LR, LR, #4");
/* Perform the context switch. First save the context of the current task. */ /* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Find the highest priority task that is ready to run. */ /* Find the highest priority task that is ready to run. */
vTaskSwitchContext(); vTaskSwitchContext();
/* Restore the context of the new task. */ /* Restore the context of the new task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -105,49 +105,49 @@ void vPortYieldProcessor( void )
#if configUSE_PREEMPTION == 0 #if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to /* The cooperative scheduler requires a normal IRQ service routine to
simply increment the system tick. */ * simply increment the system tick. */
void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); void vNonPreemptiveTick( void ) __attribute__( ( interrupt( "IRQ" ) ) );
void vNonPreemptiveTick( void ) void vNonPreemptiveTick( void )
{ {
uint32_t ulDummy; uint32_t ulDummy;
/* Increment the tick count - which may wake some tasks but as the /* Increment the tick count - which may wake some tasks but as the
preemptive scheduler is not being used any woken task is not given * preemptive scheduler is not being used any woken task is not given
processor time no matter what its priority. */ * processor time no matter what its priority. */
xTaskIncrementTick(); xTaskIncrementTick();
/* Clear the PIT interrupt. */ /* Clear the PIT interrupt. */
ulDummy = AT91C_BASE_PITC->PITC_PIVR; ulDummy = AT91C_BASE_PITC->PITC_PIVR;
/* End the interrupt in the AIC. */ /* End the interrupt in the AIC. */
AT91C_BASE_AIC->AIC_EOICR = ulDummy; AT91C_BASE_AIC->AIC_EOICR = ulDummy;
} }
#else #else /* if configUSE_PREEMPTION == 0 */
/* The preemptive scheduler is defined as "naked" as the full context is /* The preemptive scheduler is defined as "naked" as the full context is
saved on entry as part of the context switch. */ * saved on entry as part of the context switch. */
void vPreemptiveTick( void ) __attribute__((naked)); void vPreemptiveTick( void ) __attribute__( ( naked ) );
void vPreemptiveTick( void ) void vPreemptiveTick( void )
{ {
/* Save the context of the current task. */ /* Save the context of the current task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Increment the tick count - this may wake a task. */ /* Increment the tick count - this may wake a task. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
/* Find the highest priority task that is ready to run. */ /* Find the highest priority task that is ready to run. */
vTaskSwitchContext(); vTaskSwitchContext();
} }
/* End the interrupt in the AIC. */ /* End the interrupt in the AIC. */
AT91C_BASE_AIC->AIC_EOICR = AT91C_BASE_PITC->PITC_PIVR; AT91C_BASE_AIC->AIC_EOICR = AT91C_BASE_PITC->PITC_PIVR;
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
#endif #endif /* if configUSE_PREEMPTION == 0 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -156,71 +156,70 @@ void vPortYieldProcessor( void )
* ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then * 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. * the utilities are defined as macros in portmacro.h - as per other ports.
*/ */
void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortDisableInterruptsFromThumb( void ) void vPortDisableInterruptsFromThumb( void )
{ {
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
void vPortEnableInterruptsFromThumb( void ) void vPortEnableInterruptsFromThumb( void )
{ {
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
/* The code generated by the GCC compiler uses the stack in different ways at /* The code generated by the GCC compiler uses the stack in different ways at
different optimisation levels. The interrupt flags can therefore not always * different optimisation levels. The interrupt flags can therefore not always
be saved to the stack. Instead the critical section nesting level is stored * 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. */ * in a variable, which is then saved as part of the stack context. */
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */ /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times * directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
} }
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > portNO_CRITICAL_NESTING ) if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{ {
/* Decrement the nesting count as we are leaving a critical section. */ /* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be /* If the nesting level has reached zero then interrupts should be
re-enabled. */ * re-enabled. */
if( ulCriticalNesting == portNO_CRITICAL_NESTING ) if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{ {
/* Enable interrupts as per portEXIT_CRITICAL(). */ /* Enable interrupts as per portEXIT_CRITICAL(). */
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
} }
} }
} }

317
portable/GCC/ARM7_AT91SAM7S/portmacro.h
View file

@ -25,34 +25,34 @@
*/ */
/* /*
Changes from V3.2.3 * Changes from V3.2.3
*
+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. + Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
+
Changes from V3.2.4 + Changes from V3.2.4
+
+ Removed the use of the %0 parameter within the assembler macros and + Removed the use of the %0 parameter within the assembler macros and
replaced them with hard coded registers. This will ensure the + replaced them with hard coded registers. This will ensure the
assembler does not select the link register as the temp register as + assembler does not select the link register as the temp register as
was occasionally happening previously. + was occasionally happening previously.
+
+ The assembler statements are now included in a single asm block rather + The assembler statements are now included in a single asm block rather
than each line having its own asm block. + than each line having its own asm block.
+
Changes from V4.5.0 + Changes from V4.5.0
+
+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros + Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
and replaced them with portYIELD_FROM_ISR() macro. Application code + and replaced them with portYIELD_FROM_ISR() macro. Application code
should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() + should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
macros as per the V4.5.1 demo code. + macros as per the V4.5.1 demo code.
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -65,32 +65,32 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE portLONG #define portBASE_TYPE portLONG
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() __asm volatile ( "NOP" ); #define portNOP() __asm volatile ( "NOP" );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -103,92 +103,92 @@ typedef unsigned long UBaseType_t;
* THUMB mode code will result in a compile time error. * THUMB mode code will result in a compile time error.
*/ */
#define portRESTORE_CONTEXT() \ #define portRESTORE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Set the LR to the task stack. */ \ /* Set the LR to the task stack. */ \
__asm volatile ( \ __asm volatile ( \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"LDR LR, [R0] \n\t" \ "LDR LR, [R0] \n\t"\
\ \
/* The critical nesting depth is the first item on the stack. */ \ /* The critical nesting depth is the first item on the stack. */ \
/* Load it into the ulCriticalNesting variable. */ \ /* Load it into the ulCriticalNesting variable. */ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDMFD LR!, {R1} \n\t" \ "LDMFD LR!, {R1} \n\t"\
"STR R1, [R0] \n\t" \ "STR R1, [R0] \n\t"\
\ \
/* Get the SPSR from the stack. */ \ /* Get the SPSR from the stack. */ \
"LDMFD LR!, {R0} \n\t" \ "LDMFD LR!, {R0} \n\t"\
"MSR SPSR, R0 \n\t" \ "MSR SPSR, R0 \n\t"\
\ \
/* Restore all system mode registers for the task. */ \ /* Restore all system mode registers for the task. */ \
"LDMFD LR, {R0-R14}^ \n\t" \ "LDMFD LR, {R0-R14}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
\ \
/* Restore the return address. */ \ /* Restore the return address. */ \
"LDR LR, [LR, #+60] \n\t" \ "LDR LR, [LR, #+60] \n\t"\
\ \
/* And return - correcting the offset in the LR to obtain the */ \ /* And return - correcting the offset in the LR to obtain the */ \
/* correct address. */ \ /* correct address. */ \
"SUBS PC, LR, #4 \n\t" \ "SUBS PC, LR, #4 \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portSAVE_CONTEXT() \ #define portSAVE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Push R0 as we are going to use the register. */ \ /* Push R0 as we are going to use the register. */ \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" \ "STMDB SP!, {R0} \n\t"\
\ \
/* Set R0 to point to the task stack pointer. */ \ /* Set R0 to point to the task stack pointer. */ \
"STMDB SP,{SP}^ \n\t" \ "STMDB SP,{SP}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB SP, SP, #4 \n\t" \ "SUB SP, SP, #4 \n\t"\
"LDMIA SP!,{R0} \n\t" \ "LDMIA SP!,{R0} \n\t"\
\ \
/* Push the return address onto the stack. */ \ /* Push the return address onto the stack. */ \
"STMDB R0!, {LR} \n\t" \ "STMDB R0!, {LR} \n\t"\
\ \
/* Now we have saved LR we can use it instead of R0. */ \ /* Now we have saved LR we can use it instead of R0. */ \
"MOV LR, R0 \n\t" \ "MOV LR, R0 \n\t"\
\ \
/* Pop R0 so we can save it onto the system mode stack. */ \ /* Pop R0 so we can save it onto the system mode stack. */ \
"LDMIA SP!, {R0} \n\t" \ "LDMIA SP!, {R0} \n\t"\
\ \
/* Push all the system mode registers onto the task stack. */ \ /* Push all the system mode registers onto the task stack. */ \
"STMDB LR,{R0-LR}^ \n\t" \ "STMDB LR,{R0-LR}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB LR, LR, #60 \n\t" \ "SUB LR, LR, #60 \n\t"\
\ \
/* Push the SPSR onto the task stack. */ \ /* Push the SPSR onto the task stack. */ \
"MRS R0, SPSR \n\t" \ "MRS R0, SPSR \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
/* Store the new top of stack for the task. */ \ /* Store the new top of stack for the task. */ \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STR LR, [R0] \n\t" \ "STR LR, [R0] \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
#define portYIELD_FROM_ISR() vTaskSwitchContext() #define portYIELD_FROM_ISR() vTaskSwitchContext()
#define portYIELD() __asm volatile ( "SWI 0" ) #define portYIELD() __asm volatile ( "SWI 0" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -201,48 +201,47 @@ extern volatile uint32_t ulCriticalNesting; \
* defined then the utilities are defined as macros here - as per other ports. * defined then the utilities are defined as macros here - as per other ports.
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb()
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb()
#else #else
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#define portENABLE_INTERRUPTS() \ #define portENABLE_INTERRUPTS() \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

246
portable/GCC/ARM7_LPC2000/port.c
View file

@ -26,12 +26,12 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM7 port. * Implementation of functions defined in portable.h for the ARM7 port.
* *
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in this file. The ISR routines, which can only be compiled * contained in this file. The ISR routines, which can only be compiled
* to ARM mode are contained in portISR.c. * to ARM mode are contained in portISR.c.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Standard includes. */ /* Standard includes. */
@ -42,134 +42,136 @@
#include "task.h" #include "task.h"
/* Constants required to setup the task context. */ /* Constants required to setup the task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) #define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) #define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 )
/* Constants required to setup the tick ISR. */ /* Constants required to setup the tick ISR. */
#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) #define portENABLE_TIMER ( ( uint8_t ) 0x01 )
#define portPRESCALE_VALUE 0x00 #define portPRESCALE_VALUE 0x00
#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) #define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 )
#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) #define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 )
/* Constants required to setup the VIC for the tick ISR. */ /* Constants required to setup the VIC for the tick ISR. */
#define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 ) #define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 )
#define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 ) #define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 )
#define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 ) #define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */ /* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/* /*
* The scheduler can only be started from ARM mode, so * The scheduler can only be started from ARM mode, so
* vPortISRStartFirstSTask() is defined in portISR.c. * vPortISRStartFirstSTask() is defined in portISR.c.
*/ */
extern void vPortISRStartFirstTask( void ); extern void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Initialise the stack of a task to look exactly as if a call to * Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called. * portSAVE_CONTEXT had been called.
* *
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t *pxOriginalTOS; StackType_t * pxOriginalTOS;
pxOriginalTOS = pxTopOfStack; pxOriginalTOS = pxTopOfStack;
/* To ensure asserts in tasks.c don't fail, although in this case the assert /* To ensure asserts in tasks.c don't fail, although in this case the assert
is not really required. */ * is not really required. */
pxTopOfStack--; pxTopOfStack--;
/* Setup the initial stack of the task. The stack is set exactly as /* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. */ * expected by the portRESTORE_CONTEXT() macro. */
/* First on the stack is the return address - which in this case is the /* 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 * start of the task. The offset is added to make the return address appear
as it would within an IRQ ISR. */ * as it would within an IRQ ISR. */
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
pxTopOfStack--; pxTopOfStack--;
/* When the task starts is will expect to find the function parameter in /* When the task starts is will expect to find the function parameter in
R0. */ * R0. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--; pxTopOfStack--;
/* The last thing onto the stack is the status register, which is set for /* The last thing onto the stack is the status register, which is set for
system mode, with interrupts enabled. */ * system mode, with interrupts enabled. */
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
{ {
/* We want the task to start in thumb mode. */ /* We want the task to start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT; *pxTopOfStack |= portTHUMB_MODE_BIT;
} }
pxTopOfStack--; pxTopOfStack--;
/* Some optimisation levels use the stack differently to others. This /* Some optimisation levels use the stack differently to others. This
means the interrupt flags cannot always be stored on the stack and will * 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 * instead be stored in a variable, which is then saved as part of the
tasks context. */ * tasks context. */
*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING; *pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */ * here already. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Start the first task. */ /* Start the first task. */
vPortISRStartFirstTask(); vPortISRStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the ARM port will require this function as there /* It is unlikely that the ARM port will require this function as there
is nothing to return to. */ * is nothing to return to. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -178,43 +180,41 @@ void vPortEndScheduler( void )
*/ */
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
uint32_t ulCompareMatch; uint32_t ulCompareMatch;
extern void ( vTickISR )( void );
/* A 1ms tick does not require the use of the timer prescale. This is extern void( vTickISR )( void );
defaulted to zero but can be used if necessary. */
T0_PR = portPRESCALE_VALUE;
/* Calculate the match value required for our wanted tick rate. */ /* A 1ms tick does not require the use of the timer prescale. This is
ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; * defaulted to zero but can be used if necessary. */
T0_PR = portPRESCALE_VALUE;
/* Protect against divide by zero. Using an if() statement still results /* Calculate the match value required for our wanted tick rate. */
in a warning - hence the #if. */ ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
#if portPRESCALE_VALUE != 0
{
ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
}
#endif
T0_MR0 = ulCompareMatch;
/* Generate tick with timer 0 compare match. */ /* Protect against divide by zero. Using an if() statement still results
T0_MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH; * in a warning - hence the #if. */
#if portPRESCALE_VALUE != 0
{
ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
}
#endif
T0_MR0 = ulCompareMatch;
/* Setup the VIC for the timer. */ /* Generate tick with timer 0 compare match. */
VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT ); T0_MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH;
VICIntEnable |= portTIMER_VIC_CHANNEL_BIT;
/* The ISR installed depends on whether the preemptive or cooperative
scheduler is being used. */
VICVectAddr0 = ( int32_t ) vTickISR; /* Setup the VIC for the timer. */
VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE; VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT );
VICIntEnable |= portTIMER_VIC_CHANNEL_BIT;
/* Start the timer - interrupts are disabled when this function is called /* The ISR installed depends on whether the preemptive or cooperative
so it is okay to do this here. */ * scheduler is being used. */
T0_TCR = portENABLE_TIMER;
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;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

216
portable/GCC/ARM7_LPC2000/portISR.c
View file

@ -26,45 +26,45 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in port.c The ISR routines, which can only be compiled * contained in port.c The ISR routines, which can only be compiled
* to ARM mode, are contained in this file. * to ARM mode, are contained in this file.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* /*
Changes from V2.5.2 * Changes from V2.5.2
*
+ The critical section management functions have been changed. These no + The critical section management functions have been changed. These no
longer modify the stack and are safe to use at all optimisation levels. + 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. + The functions are now also the same for both ARM and THUMB modes.
+
Changes from V2.6.0 + Changes from V2.6.0
+
+ Removed the 'static' from the definition of vNonPreemptiveTick() to + Removed the 'static' from the definition of vNonPreemptiveTick() to
allow the demo to link when using the cooperative scheduler. + allow the demo to link when using the cooperative scheduler.
+
Changes from V3.2.4 + Changes from V3.2.4
+
+ The assembler statements are now included in a single asm block rather + The assembler statements are now included in a single asm block rather
than each line having its own asm block. + than each line having its own asm block.
*/ */
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
/* Constants required to handle interrupts. */ /* Constants required to handle interrupts. */
#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) #define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 )
#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) #define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 )
/* Constants required to handle critical sections. */ /* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL; volatile uint32_t ulCriticalNesting = 9999UL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* ISR to handle manual context switches (from a call to taskYIELD()). */ /* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); void vPortYieldProcessor( void ) __attribute__( ( interrupt( "SWI" ), naked ) );
/* /*
* The scheduler can only be started from ARM mode, hence the inclusion of this * The scheduler can only be started from ARM mode, hence the inclusion of this
@ -75,9 +75,9 @@ void vPortISRStartFirstTask( void );
void vPortISRStartFirstTask( void ) void vPortISRStartFirstTask( void )
{ {
/* Simply start the scheduler. This is included here as it can only be /* Simply start the scheduler. This is included here as it can only be
called from ARM mode. */ * called from ARM mode. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -91,48 +91,48 @@ void vPortISRStartFirstTask( void )
*/ */
void vPortYieldProcessor( void ) void vPortYieldProcessor( void )
{ {
/* Within an IRQ ISR the link register has an offset from the true return /* 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 * address, but an SWI ISR does not. Add the offset manually so the same
ISR return code can be used in both cases. */ * ISR return code can be used in both cases. */
__asm volatile ( "ADD LR, LR, #4" ); __asm volatile ( "ADD LR, LR, #4");
/* Perform the context switch. First save the context of the current task. */ /* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Find the highest priority task that is ready to run. */ /* Find the highest priority task that is ready to run. */
__asm volatile ( "bl vTaskSwitchContext" ); __asm volatile ( "bl vTaskSwitchContext" );
/* Restore the context of the new task. */ /* Restore the context of the new task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* The ISR used for the scheduler tick. * The ISR used for the scheduler tick.
*/ */
void vTickISR( void ) __attribute__((naked)); void vTickISR( void ) __attribute__( ( naked ) );
void vTickISR( void ) void vTickISR( void )
{ {
/* Save the context of the interrupted task. */ /* Save the context of the interrupted task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Increment the RTOS tick count, then look for the highest priority /* Increment the RTOS tick count, then look for the highest priority
task that is ready to run. */ * task that is ready to run. */
__asm volatile __asm volatile
( (
" bl xTaskIncrementTick \t\n" \ " bl xTaskIncrementTick \t\n"\
" cmp r0, #0 \t\n" \ " cmp r0, #0 \t\n"\
" beq SkipContextSwitch \t\n" \ " beq SkipContextSwitch \t\n"\
" bl vTaskSwitchContext \t\n" \ " bl vTaskSwitchContext \t\n"\
"SkipContextSwitch: \t\n" "SkipContextSwitch: \t\n"
); );
/* Ready for the next interrupt. */ /* Ready for the next interrupt. */
T0_IR = portTIMER_MATCH_ISR_BIT; T0_IR = portTIMER_MATCH_ISR_BIT;
VICVectAddr = portCLEAR_VIC_INTERRUPT; VICVectAddr = portCLEAR_VIC_INTERRUPT;
/* Restore the context of the new task. */ /* Restore the context of the new task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -144,71 +144,71 @@ void vTickISR( void )
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortDisableInterruptsFromThumb( void ) void vPortDisableInterruptsFromThumb( void )
{ {
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
void vPortEnableInterruptsFromThumb( void ) void vPortEnableInterruptsFromThumb( void )
{ {
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
/* The code generated by the GCC compiler uses the stack in different ways at /* The code generated by the GCC compiler uses the stack in different ways at
different optimisation levels. The interrupt flags can therefore not always * different optimisation levels. The interrupt flags can therefore not always
be saved to the stack. Instead the critical section nesting level is stored * 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. */ * in a variable, which is then saved as part of the stack context. */
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */ /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times * directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
} }
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > portNO_CRITICAL_NESTING ) if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{ {
/* Decrement the nesting count as we are leaving a critical section. */ /* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be /* If the nesting level has reached zero then interrupts should be
re-enabled. */ * re-enabled. */
if( ulCriticalNesting == portNO_CRITICAL_NESTING ) if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{ {
/* Enable interrupts as per portEXIT_CRITICAL(). */ /* Enable interrupts as per portEXIT_CRITICAL(). */
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
} }
} }
} }

277
portable/GCC/ARM7_LPC2000/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -42,32 +42,32 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE portLONG #define portBASE_TYPE portLONG
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() __asm volatile ( "NOP" ); #define portNOP() __asm volatile ( "NOP" );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -80,92 +80,92 @@ typedef unsigned long UBaseType_t;
* THUMB mode code will result in a compile time error. * THUMB mode code will result in a compile time error.
*/ */
#define portRESTORE_CONTEXT() \ #define portRESTORE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Set the LR to the task stack. */ \ /* Set the LR to the task stack. */ \
__asm volatile ( \ __asm volatile ( \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"LDR LR, [R0] \n\t" \ "LDR LR, [R0] \n\t"\
\ \
/* The critical nesting depth is the first item on the stack. */ \ /* The critical nesting depth is the first item on the stack. */ \
/* Load it into the ulCriticalNesting variable. */ \ /* Load it into the ulCriticalNesting variable. */ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDMFD LR!, {R1} \n\t" \ "LDMFD LR!, {R1} \n\t"\
"STR R1, [R0] \n\t" \ "STR R1, [R0] \n\t"\
\ \
/* Get the SPSR from the stack. */ \ /* Get the SPSR from the stack. */ \
"LDMFD LR!, {R0} \n\t" \ "LDMFD LR!, {R0} \n\t"\
"MSR SPSR, R0 \n\t" \ "MSR SPSR, R0 \n\t"\
\ \
/* Restore all system mode registers for the task. */ \ /* Restore all system mode registers for the task. */ \
"LDMFD LR, {R0-R14}^ \n\t" \ "LDMFD LR, {R0-R14}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
\ \
/* Restore the return address. */ \ /* Restore the return address. */ \
"LDR LR, [LR, #+60] \n\t" \ "LDR LR, [LR, #+60] \n\t"\
\ \
/* And return - correcting the offset in the LR to obtain the */ \ /* And return - correcting the offset in the LR to obtain the */ \
/* correct address. */ \ /* correct address. */ \
"SUBS PC, LR, #4 \n\t" \ "SUBS PC, LR, #4 \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portSAVE_CONTEXT() \ #define portSAVE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Push R0 as we are going to use the register. */ \ /* Push R0 as we are going to use the register. */ \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" \ "STMDB SP!, {R0} \n\t"\
\ \
/* Set R0 to point to the task stack pointer. */ \ /* Set R0 to point to the task stack pointer. */ \
"STMDB SP,{SP}^ \n\t" \ "STMDB SP,{SP}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB SP, SP, #4 \n\t" \ "SUB SP, SP, #4 \n\t"\
"LDMIA SP!,{R0} \n\t" \ "LDMIA SP!,{R0} \n\t"\
\ \
/* Push the return address onto the stack. */ \ /* Push the return address onto the stack. */ \
"STMDB R0!, {LR} \n\t" \ "STMDB R0!, {LR} \n\t"\
\ \
/* Now we have saved LR we can use it instead of R0. */ \ /* Now we have saved LR we can use it instead of R0. */ \
"MOV LR, R0 \n\t" \ "MOV LR, R0 \n\t"\
\ \
/* Pop R0 so we can save it onto the system mode stack. */ \ /* Pop R0 so we can save it onto the system mode stack. */ \
"LDMIA SP!, {R0} \n\t" \ "LDMIA SP!, {R0} \n\t"\
\ \
/* Push all the system mode registers onto the task stack. */ \ /* Push all the system mode registers onto the task stack. */ \
"STMDB LR,{R0-LR}^ \n\t" \ "STMDB LR,{R0-LR}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB LR, LR, #60 \n\t" \ "SUB LR, LR, #60 \n\t"\
\ \
/* Push the SPSR onto the task stack. */ \ /* Push the SPSR onto the task stack. */ \
"MRS R0, SPSR \n\t" \ "MRS R0, SPSR \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
/* Store the new top of stack for the task. */ \ /* Store the new top of stack for the task. */ \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STR LR, [R0] \n\t" \ "STR LR, [R0] \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
extern void vTaskSwitchContext( void ); extern void vTaskSwitchContext( void );
#define portYIELD_FROM_ISR() vTaskSwitchContext() #define portYIELD_FROM_ISR() vTaskSwitchContext()
#define portYIELD() __asm volatile ( "SWI 0" ) #define portYIELD() __asm volatile ( "SWI 0" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -178,48 +178,47 @@ extern void vTaskSwitchContext( void );
* defined then the utilities are defined as macros here - as per other ports. * defined then the utilities are defined as macros here - as per other ports.
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb()
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb()
#else #else
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#define portENABLE_INTERRUPTS() \ #define portENABLE_INTERRUPTS() \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

271
portable/GCC/ARM7_LPC23xx/port.c
View file

@ -26,12 +26,12 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM7 port. * Implementation of functions defined in portable.h for the ARM7 port.
* *
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in this file. The ISR routines, which can only be compiled * contained in this file. The ISR routines, which can only be compiled
* to ARM mode are contained in portISR.c. * to ARM mode are contained in portISR.c.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Standard includes. */ /* Standard includes. */
@ -42,134 +42,136 @@
#include "task.h" #include "task.h"
/* Constants required to setup the task context. */ /* Constants required to setup the task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) #define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 ) #define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 )
/* Constants required to setup the tick ISR. */ /* Constants required to setup the tick ISR. */
#define portENABLE_TIMER ( ( uint8_t ) 0x01 ) #define portENABLE_TIMER ( ( uint8_t ) 0x01 )
#define portPRESCALE_VALUE 0x00 #define portPRESCALE_VALUE 0x00
#define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 ) #define portINTERRUPT_ON_MATCH ( ( uint32_t ) 0x01 )
#define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 ) #define portRESET_COUNT_ON_MATCH ( ( uint32_t ) 0x02 )
/* Constants required to setup the VIC for the tick ISR. */ /* Constants required to setup the VIC for the tick ISR. */
#define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 ) #define portTIMER_VIC_CHANNEL ( ( uint32_t ) 0x0004 )
#define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 ) #define portTIMER_VIC_CHANNEL_BIT ( ( uint32_t ) 0x0010 )
#define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 ) #define portTIMER_VIC_ENABLE ( ( uint32_t ) 0x0020 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */ /* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/* /*
* The scheduler can only be started from ARM mode, so * The scheduler can only be started from ARM mode, so
* vPortISRStartFirstSTask() is defined in portISR.c. * vPortISRStartFirstSTask() is defined in portISR.c.
*/ */
extern void vPortISRStartFirstTask( void ); extern void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Initialise the stack of a task to look exactly as if a call to * Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called. * portSAVE_CONTEXT had been called.
* *
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t *pxOriginalTOS; StackType_t * pxOriginalTOS;
pxOriginalTOS = pxTopOfStack; 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 /* To ensure asserts in tasks.c don't fail, although in this case the assert
expected by the portRESTORE_CONTEXT() macro. */ * is not really required. */
pxTopOfStack--;
/* First on the stack is the return address - which in this case is the /* Setup the initial stack of the task. The stack is set exactly as
start of the task. The offset is added to make the return address appear * expected by the portRESTORE_CONTEXT() macro. */
as it would within an IRQ ISR. */
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ /* First on the stack is the return address - which in this case is the
pxTopOfStack--; * start of the task. The offset is added to make the return address appear
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ * as it would within an IRQ ISR. */
pxTopOfStack--; *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ pxTopOfStack--;
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 *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
R0. */ pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--; 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--;
/* The last thing onto the stack is the status register, which is set for /* When the task starts is will expect to find the function parameter in
system mode, with interrupts enabled. */ * R0. */
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) /* The last thing onto the stack is the status register, which is set for
{ * system mode, with interrupts enabled. */
/* We want the task to start in thumb mode. */ *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
pxTopOfStack--; if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
{
/* We want the task to start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
/* Some optimisation levels use the stack differently to others. This pxTopOfStack--;
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; /* 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 ) BaseType_t xPortStartScheduler( void )
{ {
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */ * here already. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Start the first task. */ /* Start the first task. */
vPortISRStartFirstTask(); vPortISRStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the ARM port will require this function as there /* It is unlikely that the ARM port will require this function as there
is nothing to return to. */ * is nothing to return to. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -178,55 +180,52 @@ void vPortEndScheduler( void )
*/ */
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
uint32_t ulCompareMatch; uint32_t ulCompareMatch;
PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2); PCLKSEL0 = ( PCLKSEL0 & ( ~( 0x3 << 2 ) ) ) | ( 0x01 << 2 );
T0TCR = 2; /* Stop and reset the timer */ T0TCR = 2; /* Stop and reset the timer */
T0CTCR = 0; /* Timer mode */ 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. */ /* A 1ms tick does not require the use of the timer prescale. This is
ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ; * defaulted to zero but can be used if necessary. */
T0PR = portPRESCALE_VALUE;
/* Protect against divide by zero. Using an if() statement still results /* Calculate the match value required for our wanted tick rate. */
in a warning - hence the #if. */ ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
#if portPRESCALE_VALUE != 0
{
ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
}
#endif
T0MR1 = ulCompareMatch;
/* Generate tick with timer 0 compare match. */ /* Protect against divide by zero. Using an if() statement still results
T0MCR = (3 << 3); /* Reset timer on match and generate interrupt */ * in a warning - hence the #if. */
#if portPRESCALE_VALUE != 0
{
ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
}
#endif
T0MR1 = ulCompareMatch;
/* Setup the VIC for the timer. */ /* Generate tick with timer 0 compare match. */
VICIntEnable = 0x00000010; T0MCR = ( 3 << 3 ); /* Reset timer on match and generate interrupt */
/* 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; /* Setup the VIC for the timer. */
VICIntEnable = 0x00000010;
/* Start the timer - interrupts are disabled when this function is called /* The ISR installed depends on whether the preemptive or cooperative
so it is okay to do this here. */ * scheduler is being used. */
T0TCR = portENABLE_TIMER; #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;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

226
portable/GCC/ARM7_LPC23xx/portISR.c
View file

@ -26,29 +26,29 @@
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Components that can be compiled to either ARM or THUMB mode are * Components that can be compiled to either ARM or THUMB mode are
* contained in port.c The ISR routines, which can only be compiled * contained in port.c The ISR routines, which can only be compiled
* to ARM mode, are contained in this file. * to ARM mode, are contained in this file.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
/* Constants required to handle interrupts. */ /* Constants required to handle interrupts. */
#define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 ) #define portTIMER_MATCH_ISR_BIT ( ( uint8_t ) 0x01 )
#define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 ) #define portCLEAR_VIC_INTERRUPT ( ( uint32_t ) 0 )
/* Constants required to handle critical sections. */ /* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL; volatile uint32_t ulCriticalNesting = 9999UL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* ISR to handle manual context switches (from a call to taskYIELD()). */ /* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); void vPortYieldProcessor( void ) __attribute__( ( interrupt( "SWI" ), naked ) );
/* /*
* The scheduler can only be started from ARM mode, hence the inclusion of this * The scheduler can only be started from ARM mode, hence the inclusion of this
* function here. * function here.
*/ */
@ -57,39 +57,39 @@ void vPortISRStartFirstTask( void );
void vPortISRStartFirstTask( void ) void vPortISRStartFirstTask( void )
{ {
/* Simply start the scheduler. This is included here as it can only be /* Simply start the scheduler. This is included here as it can only be
called from ARM mode. */ * called from ARM mode. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Called by portYIELD() or taskYIELD() to manually force a context switch. * Called by portYIELD() or taskYIELD() to manually force a context switch.
* *
* When a context switch is performed from the task level the saved task * 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 * 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 * 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. * saved from the ISR or that saved from a call to vPortYieldProcessor.
*/ */
void vPortYieldProcessor( void ) void vPortYieldProcessor( void )
{ {
/* Within an IRQ ISR the link register has an offset from the true return /* 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 * address, but an SWI ISR does not. Add the offset manually so the same
ISR return code can be used in both cases. */ * ISR return code can be used in both cases. */
__asm volatile ( "ADD LR, LR, #4" ); __asm volatile ( "ADD LR, LR, #4");
/* Perform the context switch. First save the context of the current task. */ /* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Find the highest priority task that is ready to run. */ /* Find the highest priority task that is ready to run. */
__asm volatile( "bl vTaskSwitchContext" ); __asm volatile ( "bl vTaskSwitchContext");
/* Restore the context of the new task. */ /* Restore the context of the new task. */
portRESTORE_CONTEXT(); portRESTORE_CONTEXT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* The ISR used for the scheduler tick depends on whether the cooperative or * The ISR used for the scheduler tick depends on whether the cooperative or
* the preemptive scheduler is being used. * the preemptive scheduler is being used.
*/ */
@ -97,46 +97,46 @@ void vPortYieldProcessor( void )
#if configUSE_PREEMPTION == 0 #if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to /* The cooperative scheduler requires a normal IRQ service routine to
simply increment the system tick. */ * simply increment the system tick. */
void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); void vNonPreemptiveTick( void ) __attribute__( ( interrupt( "IRQ" ) ) );
void vNonPreemptiveTick( void ) void vNonPreemptiveTick( void )
{ {
xTaskIncrementTick(); xTaskIncrementTick();
T0IR = 2; T0IR = 2;
VICVectAddr = portCLEAR_VIC_INTERRUPT; VICVectAddr = portCLEAR_VIC_INTERRUPT;
} }
#else #else /* if configUSE_PREEMPTION == 0 */
/* The preemptive scheduler is defined as "naked" as the full context is /* The preemptive scheduler is defined as "naked" as the full context is
saved on entry as part of the context switch. */ * saved on entry as part of the context switch. */
void vPreemptiveTick( void ) __attribute__((naked)); void vPreemptiveTick( void ) __attribute__( ( naked ) );
void vPreemptiveTick( void ) void vPreemptiveTick( void )
{ {
/* Save the context of the interrupted task. */ /* Save the context of the interrupted task. */
portSAVE_CONTEXT(); portSAVE_CONTEXT();
/* Increment the RTOS tick count, then look for the highest priority /* Increment the RTOS tick count, then look for the highest priority
task that is ready to run. */ * task that is ready to run. */
__asm volatile __asm volatile
( (
" bl xTaskIncrementTick \t\n" \ " bl xTaskIncrementTick \t\n"\
" cmp r0, #0 \t\n" \ " cmp r0, #0 \t\n"\
" beq SkipContextSwitch \t\n" \ " beq SkipContextSwitch \t\n"\
" bl vTaskSwitchContext \t\n" \ " bl vTaskSwitchContext \t\n"\
"SkipContextSwitch: \t\n" "SkipContextSwitch: \t\n"
); );
/* Ready for the next interrupt. */ /* Ready for the next interrupt. */
T0IR = 2; T0IR = 2;
VICVectAddr = portCLEAR_VIC_INTERRUPT; VICVectAddr = portCLEAR_VIC_INTERRUPT;
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
#endif /* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
#endif /* if configUSE_PREEMPTION == 0 */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -147,71 +147,71 @@ void vPortYieldProcessor( void )
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
void vPortDisableInterruptsFromThumb( void ) void vPortDisableInterruptsFromThumb( void )
{ {
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
void vPortEnableInterruptsFromThumb( void ) void vPortEnableInterruptsFromThumb( void )
{ {
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */ "LDMIA SP!, {R0} \n\t"/* Pop R0. */
"BX R14" ); /* Return back to thumb. */ "BX R14"); /* Return back to thumb. */
} }
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
/* The code generated by the GCC compiler uses the stack in different ways at /* The code generated by the GCC compiler uses the stack in different ways at
different optimisation levels. The interrupt flags can therefore not always * different optimisation levels. The interrupt flags can therefore not always
be saved to the stack. Instead the critical section nesting level is stored * 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. */ * in a variable, which is then saved as part of the stack context. */
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */ /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "ORR R0, R0, #0xC0 \n\t"/* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times * directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
} }
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > portNO_CRITICAL_NESTING ) if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{ {
/* Decrement the nesting count as we are leaving a critical section. */ /* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be /* If the nesting level has reached zero then interrupts should be
re-enabled. */ * re-enabled. */
if( ulCriticalNesting == portNO_CRITICAL_NESTING ) if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{ {
/* Enable interrupts as per portEXIT_CRITICAL(). */ /* Enable interrupts as per portEXIT_CRITICAL(). */
__asm volatile ( __asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */ "STMDB SP!, {R0} \n\t"/* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */ "MRS R0, CPSR \n\t"/* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "BIC R0, R0, #0xC0 \n\t"/* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */ "MSR CPSR, R0 \n\t"/* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */ "LDMIA SP!, {R0}"); /* Pop R0. */
} }
} }
} }

317
portable/GCC/ARM7_LPC23xx/portmacro.h
View file

@ -25,34 +25,34 @@
*/ */
/* /*
Changes from V3.2.3 * Changes from V3.2.3
*
+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. + Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
+
Changes from V3.2.4 + Changes from V3.2.4
+
+ Removed the use of the %0 parameter within the assembler macros and + Removed the use of the %0 parameter within the assembler macros and
replaced them with hard coded registers. This will ensure the + replaced them with hard coded registers. This will ensure the
assembler does not select the link register as the temp register as + assembler does not select the link register as the temp register as
was occasionally happening previously. + was occasionally happening previously.
+
+ The assembler statements are now included in a single asm block rather + The assembler statements are now included in a single asm block rather
than each line having its own asm block. + than each line having its own asm block.
+
Changes from V4.5.0 + Changes from V4.5.0
+
+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros + Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
and replaced them with portYIELD_FROM_ISR() macro. Application code + and replaced them with portYIELD_FROM_ISR() macro. Application code
should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() + should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
macros as per the V4.5.1 demo code. + macros as per the V4.5.1 demo code.
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -65,32 +65,32 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE portLONG #define portBASE_TYPE portLONG
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() __asm volatile ( "NOP" ); #define portNOP() __asm volatile ( "NOP" );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -103,92 +103,92 @@ typedef unsigned long UBaseType_t;
* THUMB mode code will result in a compile time error. * THUMB mode code will result in a compile time error.
*/ */
#define portRESTORE_CONTEXT() \ #define portRESTORE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Set the LR to the task stack. */ \ /* Set the LR to the task stack. */ \
__asm volatile ( \ __asm volatile ( \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"LDR LR, [R0] \n\t" \ "LDR LR, [R0] \n\t"\
\ \
/* The critical nesting depth is the first item on the stack. */ \ /* The critical nesting depth is the first item on the stack. */ \
/* Load it into the ulCriticalNesting variable. */ \ /* Load it into the ulCriticalNesting variable. */ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDMFD LR!, {R1} \n\t" \ "LDMFD LR!, {R1} \n\t"\
"STR R1, [R0] \n\t" \ "STR R1, [R0] \n\t"\
\ \
/* Get the SPSR from the stack. */ \ /* Get the SPSR from the stack. */ \
"LDMFD LR!, {R0} \n\t" \ "LDMFD LR!, {R0} \n\t"\
"MSR SPSR, R0 \n\t" \ "MSR SPSR, R0 \n\t"\
\ \
/* Restore all system mode registers for the task. */ \ /* Restore all system mode registers for the task. */ \
"LDMFD LR, {R0-R14}^ \n\t" \ "LDMFD LR, {R0-R14}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
\ \
/* Restore the return address. */ \ /* Restore the return address. */ \
"LDR LR, [LR, #+60] \n\t" \ "LDR LR, [LR, #+60] \n\t"\
\ \
/* And return - correcting the offset in the LR to obtain the */ \ /* And return - correcting the offset in the LR to obtain the */ \
/* correct address. */ \ /* correct address. */ \
"SUBS PC, LR, #4 \n\t" \ "SUBS PC, LR, #4 \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portSAVE_CONTEXT() \ #define portSAVE_CONTEXT() \
{ \ { \
extern volatile void * volatile pxCurrentTCB; \ extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \ extern volatile uint32_t ulCriticalNesting; \
\ \
/* Push R0 as we are going to use the register. */ \ /* Push R0 as we are going to use the register. */ \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" \ "STMDB SP!, {R0} \n\t"\
\ \
/* Set R0 to point to the task stack pointer. */ \ /* Set R0 to point to the task stack pointer. */ \
"STMDB SP,{SP}^ \n\t" \ "STMDB SP,{SP}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB SP, SP, #4 \n\t" \ "SUB SP, SP, #4 \n\t"\
"LDMIA SP!,{R0} \n\t" \ "LDMIA SP!,{R0} \n\t"\
\ \
/* Push the return address onto the stack. */ \ /* Push the return address onto the stack. */ \
"STMDB R0!, {LR} \n\t" \ "STMDB R0!, {LR} \n\t"\
\ \
/* Now we have saved LR we can use it instead of R0. */ \ /* Now we have saved LR we can use it instead of R0. */ \
"MOV LR, R0 \n\t" \ "MOV LR, R0 \n\t"\
\ \
/* Pop R0 so we can save it onto the system mode stack. */ \ /* Pop R0 so we can save it onto the system mode stack. */ \
"LDMIA SP!, {R0} \n\t" \ "LDMIA SP!, {R0} \n\t"\
\ \
/* Push all the system mode registers onto the task stack. */ \ /* Push all the system mode registers onto the task stack. */ \
"STMDB LR,{R0-LR}^ \n\t" \ "STMDB LR,{R0-LR}^ \n\t"\
"NOP \n\t" \ "NOP \n\t"\
"SUB LR, LR, #60 \n\t" \ "SUB LR, LR, #60 \n\t"\
\ \
/* Push the SPSR onto the task stack. */ \ /* Push the SPSR onto the task stack. */ \
"MRS R0, SPSR \n\t" \ "MRS R0, SPSR \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
"LDR R0, =ulCriticalNesting \n\t" \ "LDR R0, =ulCriticalNesting \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STMDB LR!, {R0} \n\t" \ "STMDB LR!, {R0} \n\t"\
\ \
/* Store the new top of stack for the task. */ \ /* Store the new top of stack for the task. */ \
"LDR R0, =pxCurrentTCB \n\t" \ "LDR R0, =pxCurrentTCB \n\t"\
"LDR R0, [R0] \n\t" \ "LDR R0, [R0] \n\t"\
"STR LR, [R0] \n\t" \ "STR LR, [R0] \n\t"\
); \ ); \
( void ) ulCriticalNesting; \ ( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \ ( void ) pxCurrentTCB; \
} }
#define portYIELD_FROM_ISR() vTaskSwitchContext() #define portYIELD_FROM_ISR() vTaskSwitchContext()
#define portYIELD() __asm volatile ( "SWI 0" ) #define portYIELD() __asm volatile ( "SWI 0" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -201,48 +201,47 @@ extern volatile uint32_t ulCriticalNesting; \
* defined then the utilities are defined as macros here - as per other ports. * defined then the utilities are defined as macros here - as per other ports.
*/ */
#ifdef THUMB_INTERWORK #ifdef THUMB_INTERWORK
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortDisableInterruptsFromThumb( void ) __attribute__( ( naked ) );
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); extern void vPortEnableInterruptsFromThumb( void ) __attribute__( ( naked ) );
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() #define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb()
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() #define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb()
#else #else
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#define portENABLE_INTERRUPTS() \ #define portENABLE_INTERRUPTS() \
__asm volatile ( \ __asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ "STMDB SP!, {R0} \n\t" /* Push R0. */\
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ "MRS R0, CPSR \n\t" /* Get CPSR. */\
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */\
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ "MSR CPSR, R0 \n\t" /* Write back modified value. */\
"LDMIA SP!, {R0} " ) /* Pop R0. */ "LDMIA SP!, {R0} ") /* Pop R0. */
#endif /* THUMB_INTERWORK */ #endif /* THUMB_INTERWORK */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

647
portable/GCC/ARM_CA53_64_BIT/port.c
View file

@ -32,104 +32,104 @@
#include "task.h" #include "task.h"
#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS #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 #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET #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 #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#ifndef configUNIQUE_INTERRUPT_PRIORITIES #ifndef configUNIQUE_INTERRUPT_PRIORITIES
#error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#ifndef configSETUP_TICK_INTERRUPT #ifndef configSETUP_TICK_INTERRUPT
#error configSETUP_TICK_INTERRUPT() must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html #error configSETUP_TICK_INTERRUPT() must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif /* configSETUP_TICK_INTERRUPT */ #endif /* configSETUP_TICK_INTERRUPT */
#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY #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 #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 #if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
#error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
#endif #endif
#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES #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 #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 #endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */ /* Check the configuration. */
#if( configMAX_PRIORITIES > 32 ) #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. #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
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* In case security extensions are implemented. */ /* In case security extensions are implemented. */
#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) #if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
#error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
#endif #endif
/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in /* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
portmacro.h. */ * portmacro.h. */
#ifndef configCLEAR_TICK_INTERRUPT #ifndef configCLEAR_TICK_INTERRUPT
#define configCLEAR_TICK_INTERRUPT() #define configCLEAR_TICK_INTERRUPT()
#endif #endif
/* A critical section is exited when the critical section nesting count reaches /* A critical section is exited when the critical section nesting count reaches
this value. */ * this value. */
#define portNO_CRITICAL_NESTING ( ( size_t ) 0 ) #define portNO_CRITICAL_NESTING ( ( size_t ) 0 )
/* In all GICs 255 can be written to the priority mask register to unmask all /* In all GICs 255 can be written to the priority mask register to unmask all
(but the lowest) interrupt priority. */ * (but the lowest) interrupt priority. */
#define portUNMASK_VALUE ( 0xFFUL ) #define portUNMASK_VALUE ( 0xFFUL )
/* Tasks are not created with a floating point context, but can be given a /* 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 * 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 * 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 * does not have an FPU context, or any other value if the task does have an FPU
context. */ * context. */
#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) #define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 )
/* Constants required to setup the initial task context. */ /* Constants required to setup the initial task context. */
#define portSP_ELx ( ( StackType_t ) 0x01 ) #define portSP_ELx ( ( StackType_t ) 0x01 )
#define portSP_EL0 ( ( StackType_t ) 0x00 ) #define portSP_EL0 ( ( StackType_t ) 0x00 )
#if defined( GUEST ) #if defined( GUEST )
#define portEL1 ( ( StackType_t ) 0x04 ) #define portEL1 ( ( StackType_t ) 0x04 )
#define portINITIAL_PSTATE ( portEL1 | portSP_EL0 ) #define portINITIAL_PSTATE ( portEL1 | portSP_EL0 )
#else #else
#define portEL3 ( ( StackType_t ) 0x0c ) #define portEL3 ( ( StackType_t ) 0x0c )
/* At the time of writing, the BSP only supports EL3. */ /* At the time of writing, the BSP only supports EL3. */
#define portINITIAL_PSTATE ( portEL3 | portSP_EL0 ) #define portINITIAL_PSTATE ( portEL3 | portSP_EL0 )
#endif #endif
/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary /* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
point is zero. */ * point is zero. */
#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) #define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 )
/* Masks all bits in the APSR other than the mode bits. */ /* Masks all bits in the APSR other than the mode bits. */
#define portAPSR_MODE_BITS_MASK ( 0x0C ) #define portAPSR_MODE_BITS_MASK ( 0x0C )
/* The I bit in the DAIF bits. */ /* The I bit in the DAIF bits. */
#define portDAIF_I ( 0x80 ) #define portDAIF_I ( 0x80 )
/* Macro to unmask all interrupt priorities. */ /* Macro to unmask all interrupt priorities. */
#define portCLEAR_INTERRUPT_MASK() \ #define portCLEAR_INTERRUPT_MASK() \
{ \ { \
portDISABLE_INTERRUPTS(); \ portDISABLE_INTERRUPTS(); \
portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
__asm volatile ( "DSB SY \n" \ __asm volatile ( "DSB SY \n" \
"ISB SY \n" ); \ "ISB SY \n"); \
portENABLE_INTERRUPTS(); \ portENABLE_INTERRUPTS(); \
} }
/* Hardware specifics used when sanity checking the configuration. */ /* Hardware specifics used when sanity checking the configuration. */
#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL #define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL
#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) #define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
#define portBIT_0_SET ( ( uint8_t ) 0x01 ) #define portBIT_0_SET ( ( uint8_t ) 0x01 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -142,376 +142,381 @@ extern void vPortRestoreTaskContext( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* A variable is used to keep track of the critical section nesting. This /* 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 * 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 * 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 * 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. */ * automatically be set to 0 when the first task is started. */
volatile uint64_t ullCriticalNesting = 9999ULL; volatile uint64_t ullCriticalNesting = 9999ULL;
/* Saved as part of the task context. If ullPortTaskHasFPUContext is non-zero /* Saved as part of the task context. If ullPortTaskHasFPUContext is non-zero
then floating point context must be saved and restored for the task. */ * then floating point context must be saved and restored for the task. */
uint64_t ullPortTaskHasFPUContext = pdFALSE; uint64_t ullPortTaskHasFPUContext = pdFALSE;
/* Set to 1 to pend a context switch from an ISR. */ /* Set to 1 to pend a context switch from an ISR. */
uint64_t ullPortYieldRequired = pdFALSE; uint64_t ullPortYieldRequired = pdFALSE;
/* Counts the interrupt nesting depth. A context switch is only performed if /* Counts the interrupt nesting depth. A context switch is only performed if
if the nesting depth is 0. */ * if the nesting depth is 0. */
uint64_t ullPortInterruptNesting = 0; uint64_t ullPortInterruptNesting = 0;
/* Used in the ASM code. */ /* Used in the ASM code. */
__attribute__(( used )) const uint64_t ullICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS; __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 ullICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
__attribute__(( used )) const uint64_t ullICCPMR = portICCPMR_PRIORITY_MASK_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 ); __attribute__( ( used ) ) const uint64_t ullMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
/* Setup the initial stack of the task. The stack is set exactly as /* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. */ * expected by the portRESTORE_CONTEXT() macro. */
/* First all the general purpose registers. */ /* First all the general purpose registers. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0101010101010101ULL; /* R1 */ *pxTopOfStack = 0x0101010101010101ULL; /* R1 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0303030303030303ULL; /* R3 */ *pxTopOfStack = 0x0303030303030303ULL; /* R3 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0202020202020202ULL; /* R2 */ *pxTopOfStack = 0x0202020202020202ULL; /* R2 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0505050505050505ULL; /* R5 */ *pxTopOfStack = 0x0505050505050505ULL; /* R5 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0404040404040404ULL; /* R4 */ *pxTopOfStack = 0x0404040404040404ULL; /* R4 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0707070707070707ULL; /* R7 */ *pxTopOfStack = 0x0707070707070707ULL; /* R7 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0606060606060606ULL; /* R6 */ *pxTopOfStack = 0x0606060606060606ULL; /* R6 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0909090909090909ULL; /* R9 */ *pxTopOfStack = 0x0909090909090909ULL; /* R9 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x0808080808080808ULL; /* R8 */ *pxTopOfStack = 0x0808080808080808ULL; /* R8 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1111111111111111ULL; /* R11 */ *pxTopOfStack = 0x1111111111111111ULL; /* R11 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1010101010101010ULL; /* R10 */ *pxTopOfStack = 0x1010101010101010ULL; /* R10 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1313131313131313ULL; /* R13 */ *pxTopOfStack = 0x1313131313131313ULL; /* R13 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1212121212121212ULL; /* R12 */ *pxTopOfStack = 0x1212121212121212ULL; /* R12 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1515151515151515ULL; /* R15 */ *pxTopOfStack = 0x1515151515151515ULL; /* R15 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1414141414141414ULL; /* R14 */ *pxTopOfStack = 0x1414141414141414ULL; /* R14 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1717171717171717ULL; /* R17 */ *pxTopOfStack = 0x1717171717171717ULL; /* R17 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1616161616161616ULL; /* R16 */ *pxTopOfStack = 0x1616161616161616ULL; /* R16 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1919191919191919ULL; /* R19 */ *pxTopOfStack = 0x1919191919191919ULL; /* R19 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x1818181818181818ULL; /* R18 */ *pxTopOfStack = 0x1818181818181818ULL; /* R18 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2121212121212121ULL; /* R21 */ *pxTopOfStack = 0x2121212121212121ULL; /* R21 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2020202020202020ULL; /* R20 */ *pxTopOfStack = 0x2020202020202020ULL; /* R20 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2323232323232323ULL; /* R23 */ *pxTopOfStack = 0x2323232323232323ULL; /* R23 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2222222222222222ULL; /* R22 */ *pxTopOfStack = 0x2222222222222222ULL; /* R22 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2525252525252525ULL; /* R25 */ *pxTopOfStack = 0x2525252525252525ULL; /* R25 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2424242424242424ULL; /* R24 */ *pxTopOfStack = 0x2424242424242424ULL; /* R24 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2727272727272727ULL; /* R27 */ *pxTopOfStack = 0x2727272727272727ULL; /* R27 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2626262626262626ULL; /* R26 */ *pxTopOfStack = 0x2626262626262626ULL; /* R26 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2929292929292929ULL; /* R29 */ *pxTopOfStack = 0x2929292929292929ULL; /* R29 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = 0x2828282828282828ULL; /* R28 */ *pxTopOfStack = 0x2828282828282828ULL; /* R28 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00; /* XZR - has no effect, used so there are an even number of registers. */ *pxTopOfStack = ( StackType_t ) 0x00; /* XZR - has no effect, used so there are an even number of registers. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00; /* R30 - procedure call link register. */ *pxTopOfStack = ( StackType_t ) 0x00; /* R30 - procedure call link register. */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = portINITIAL_PSTATE; *pxTopOfStack = portINITIAL_PSTATE;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */ *pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */
pxTopOfStack--; pxTopOfStack--;
/* The task will start with a critical nesting count of 0 as interrupts are /* The task will start with a critical nesting count of 0 as interrupts are
enabled. */ * enabled. */
*pxTopOfStack = portNO_CRITICAL_NESTING; *pxTopOfStack = portNO_CRITICAL_NESTING;
pxTopOfStack--; pxTopOfStack--;
/* The task will start without a floating point context. A task that uses /* The task will start without a floating point context. A task that uses
the floating point hardware must call vPortTaskUsesFPU() before executing * the floating point hardware must call vPortTaskUsesFPU() before executing
any floating point instructions. */ * any floating point instructions. */
*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
uint32_t ulAPSR; uint32_t ulAPSR;
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
{ {
volatile uint32_t ulOriginalPriority; volatile uint32_t ulOriginalPriority;
volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET ); volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
volatile uint8_t ucMaxPriorityValue; volatile uint8_t ucMaxPriorityValue;
/* Determine how many priority bits are implemented in the GIC. /* Determine how many priority bits are implemented in the GIC.
*
* Save the interrupt priority value that is about to be clobbered. */
ulOriginalPriority = *pucFirstUserPriorityRegister;
Save the interrupt priority value that is about to be clobbered. */ /* Determine the number of priority bits available. First write to
ulOriginalPriority = *pucFirstUserPriorityRegister; * all possible bits. */
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Determine the number of priority bits available. First write to /* Read the value back to see how many bits stuck. */
all possible bits. */ ucMaxPriorityValue = *pucFirstUserPriorityRegister;
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Read the value back to see how many bits stuck. */ /* Shift to the least significant bits. */
ucMaxPriorityValue = *pucFirstUserPriorityRegister; while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
{
ucMaxPriorityValue >>= ( uint8_t ) 0x01;
}
/* Shift to the least significant bits. */ /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET ) * value. */
{
ucMaxPriorityValue >>= ( uint8_t ) 0x01;
}
/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read configASSERT( ucMaxPriorityValue >= portLOWEST_INTERRUPT_PRIORITY );
value. */
configASSERT( ucMaxPriorityValue >= portLOWEST_INTERRUPT_PRIORITY );
/* Restore the clobbered interrupt priority register to its original /* Restore the clobbered interrupt priority register to its original
value. */ * value. */
*pucFirstUserPriorityRegister = ulOriginalPriority; *pucFirstUserPriorityRegister = ulOriginalPriority;
} }
#endif /* conifgASSERT_DEFINED */ #endif /* conifgASSERT_DEFINED */
/* At the time of writing, the BSP only supports EL3. */ /* At the time of writing, the BSP only supports EL3. */
__asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) ); __asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) );
ulAPSR &= portAPSR_MODE_BITS_MASK; ulAPSR &= portAPSR_MODE_BITS_MASK;
#if defined( GUEST ) #if defined( GUEST )
#warning Building for execution as a guest under XEN. THIS IS NOT A FULLY TESTED PATH. #warning Building for execution as a guest under XEN. THIS IS NOT A FULLY TESTED PATH.
configASSERT( ulAPSR == portEL1 ); 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 ) if( ulAPSR == portEL1 )
{ #else
/* Interrupts are turned off in the CPU itself to ensure a tick does configASSERT( ulAPSR == portEL3 );
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. */ if( ulAPSR == portEL3 )
configSETUP_TICK_INTERRUPT(); #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 );
/* Start the first task executing. */ if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
vPortRestoreTaskContext(); {
} /* 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();
return 0; /* Start the timer that generates the tick ISR. */
configSETUP_TICK_INTERRUPT();
/* Start the first task executing. */
vPortRestoreTaskContext();
}
}
return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */ * Artificially force an assert. */
configASSERT( ullCriticalNesting == 1000ULL ); configASSERT( ullCriticalNesting == 1000ULL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Mask interrupts up to the max syscall interrupt priority. */ /* Mask interrupts up to the max syscall interrupt priority. */
uxPortSetInterruptMask(); uxPortSetInterruptMask();
/* Now interrupts are disabled ullCriticalNesting can be accessed /* Now interrupts are disabled ullCriticalNesting can be accessed
directly. Increment ullCriticalNesting to keep a count of how many times * directly. Increment ullCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ullCriticalNesting++; ullCriticalNesting++;
/* This is not the interrupt safe version of the enter critical function so /* 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 * 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 * 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 * the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */ * assert function also uses a critical section. */
if( ullCriticalNesting == 1ULL ) if( ullCriticalNesting == 1ULL )
{ {
configASSERT( ullPortInterruptNesting == 0 ); configASSERT( ullPortInterruptNesting == 0 );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ullCriticalNesting > portNO_CRITICAL_NESTING ) if( ullCriticalNesting > portNO_CRITICAL_NESTING )
{ {
/* Decrement the nesting count as the critical section is being /* Decrement the nesting count as the critical section is being
exited. */ * exited. */
ullCriticalNesting--; ullCriticalNesting--;
/* If the nesting level has reached zero then all interrupt /* If the nesting level has reached zero then all interrupt
priorities must be re-enabled. */ * priorities must be re-enabled. */
if( ullCriticalNesting == portNO_CRITICAL_NESTING ) if( ullCriticalNesting == portNO_CRITICAL_NESTING )
{ {
/* Critical nesting has reached zero so all interrupt priorities /* Critical nesting has reached zero so all interrupt priorities
should be unmasked. */ * should be unmasked. */
portCLEAR_INTERRUPT_MASK(); portCLEAR_INTERRUPT_MASK();
} }
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void FreeRTOS_Tick_Handler( void ) void FreeRTOS_Tick_Handler( void )
{ {
/* Must be the lowest possible priority. */ /* Must be the lowest possible priority. */
#if !defined( QEMU ) #if !defined( QEMU )
{ {
configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
} }
#endif #endif
/* Interrupts should not be enabled before this point. */ /* Interrupts should not be enabled before this point. */
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
{ {
uint32_t ulMaskBits; uint32_t ulMaskBits;
__asm volatile( "mrs %0, daif" : "=r"( ulMaskBits ) :: "memory" ); __asm volatile ( "mrs %0, daif" : "=r" ( ulMaskBits )::"memory" );
configASSERT( ( ulMaskBits & portDAIF_I ) != 0 ); configASSERT( ( ulMaskBits & portDAIF_I ) != 0 );
} }
#endif /* configASSERT_DEFINED */ #endif /* configASSERT_DEFINED */
/* Set interrupt mask before altering scheduler structures. The tick /* Set interrupt mask before altering scheduler structures. The tick
handler runs at the lowest priority, so interrupts cannot already be masked, * 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 * 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 * necessary to turn off interrupts in the CPU itself while the ICCPMR is being
updated. */ * updated. */
portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
__asm volatile ( "dsb sy \n" __asm volatile ( "dsb sy \n"
"isb sy \n" ::: "memory" ); "isb sy \n"::: "memory" );
/* Ok to enable interrupts after the interrupt source has been cleared. */ /* Ok to enable interrupts after the interrupt source has been cleared. */
configCLEAR_TICK_INTERRUPT(); configCLEAR_TICK_INTERRUPT();
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
/* Increment the RTOS tick. */ /* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
ullPortYieldRequired = pdTRUE; ullPortYieldRequired = pdTRUE;
} }
/* Ensure all interrupt priorities are active again. */ /* Ensure all interrupt priorities are active again. */
portCLEAR_INTERRUPT_MASK(); portCLEAR_INTERRUPT_MASK();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortTaskUsesFPU( void ) void vPortTaskUsesFPU( void )
{ {
/* A task is registering the fact that it needs an FPU context. Set the /* 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). */ * FPU flag (which is saved as part of the task context). */
ullPortTaskHasFPUContext = pdTRUE; ullPortTaskHasFPUContext = pdTRUE;
/* Consider initialising the FPSR here - but probably not necessary in /* Consider initialising the FPSR here - but probably not necessary in
AArch64. */ * AArch64. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortClearInterruptMask( UBaseType_t uxNewMaskValue ) void vPortClearInterruptMask( UBaseType_t uxNewMaskValue )
{ {
if( uxNewMaskValue == pdFALSE ) if( uxNewMaskValue == pdFALSE )
{ {
portCLEAR_INTERRUPT_MASK(); portCLEAR_INTERRUPT_MASK();
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
UBaseType_t uxPortSetInterruptMask( void ) UBaseType_t uxPortSetInterruptMask( void )
{ {
uint32_t ulReturn; uint32_t ulReturn;
/* Interrupt in the CPU must be turned off while the ICCPMR is being /* Interrupt in the CPU must be turned off while the ICCPMR is being
updated. */ * updated. */
portDISABLE_INTERRUPTS(); 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( 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 ) #if ( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void ) void vPortValidateInterruptPriority( void )
{ {
/* The following assertion will fail if a service routine (ISR) for /* The following assertion will fail if a service routine (ISR) for
an interrupt that has been assigned a priority above * an interrupt that has been assigned a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
function. ISR safe FreeRTOS API functions must *only* be called * function. ISR safe FreeRTOS API functions must *only* be called
from interrupts that have been assigned a priority at or below * from interrupts that have been assigned a priority at or below
configMAX_SYSCALL_INTERRUPT_PRIORITY. * 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 ) );
Numerically low interrupt priority numbers represent logically high /* Priority grouping: The interrupt controller (GIC) allows the bits
interrupt priorities, therefore the priority of the interrupt must * that define each interrupt's priority to be split between bits that
be set to a value equal to or numerically *higher* than * define the interrupt's pre-emption priority bits and bits that define
configMAX_SYSCALL_INTERRUPT_PRIORITY. * the interrupt's sub-priority. For simplicity all bits must be defined
* to be pre-emption priority bits. The following assertion will fail if
FreeRTOS maintains separate thread and ISR API functions to ensure * this is not the case (if some bits represent a sub-priority).
interrupt entry is as fast and simple as possible. */ *
configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); * 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
/* Priority grouping: The interrupt controller (GIC) allows the bits * possible value (which may be above 0). */
that define each interrupt's priority to be split between bits that configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
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 */ #endif /* configASSERT_DEFINED */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

240
portable/GCC/ARM_CA53_64_BIT/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -42,169 +42,169 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE size_t #define portSTACK_TYPE size_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef portBASE_TYPE BaseType_t; typedef portBASE_TYPE BaseType_t;
typedef uint64_t UBaseType_t; typedef uint64_t UBaseType_t;
typedef uint64_t TickType_t; typedef uint64_t TickType_t;
#define portMAX_DELAY ( ( TickType_t ) 0xffffffffffffffff ) #define portMAX_DELAY ( ( TickType_t ) 0xffffffffffffffff )
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 16 #define portBYTE_ALIGNMENT 16
#define portPOINTER_SIZE_TYPE uint64_t #define portPOINTER_SIZE_TYPE uint64_t
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
/* Called at the end of an ISR that can cause a context switch. */ /* Called at the end of an ISR that can cause a context switch. */
#define portEND_SWITCHING_ISR( xSwitchRequired )\ #define portEND_SWITCHING_ISR( xSwitchRequired ) \
{ \ { \
extern uint64_t ullPortYieldRequired; \ extern uint64_t ullPortYieldRequired; \
\ \
if( xSwitchRequired != pdFALSE ) \ if( xSwitchRequired != pdFALSE ) \
{ \ { \
ullPortYieldRequired = pdTRUE; \ 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
#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 * Critical section control
*----------------------------------------------------------*/ *----------------------------------------------------------*/
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
extern UBaseType_t uxPortSetInterruptMask( void ); extern UBaseType_t uxPortSetInterruptMask( void );
extern void vPortClearInterruptMask( UBaseType_t uxNewMaskValue ); extern void vPortClearInterruptMask( UBaseType_t uxNewMaskValue );
extern void vPortInstallFreeRTOSVectorTable( void ); extern void vPortInstallFreeRTOSVectorTable( void );
#define portDISABLE_INTERRUPTS() \ #define portDISABLE_INTERRUPTS() \
__asm volatile ( "MSR DAIFSET, #2" ::: "memory" ); \ __asm volatile ( "MSR DAIFSET, #2" ::: "memory" ); \
__asm volatile ( "DSB SY" ); \ __asm volatile ( "DSB SY" ); \
__asm volatile ( "ISB SY" ); __asm volatile ( "ISB SY" );
#define portENABLE_INTERRUPTS() \ #define portENABLE_INTERRUPTS() \
__asm volatile ( "MSR DAIFCLR, #2" ::: "memory" ); \ __asm volatile ( "MSR DAIFCLR, #2" ::: "memory" ); \
__asm volatile ( "DSB SY" ); \ __asm volatile ( "DSB SY" ); \
__asm volatile ( "ISB SY" ); __asm volatile ( "ISB SY" );
/* These macros do not globally disable/enable interrupts. They do mask off /* These macros do not globally disable/enable interrupts. They do mask off
interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ * interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortClearInterruptMask( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* 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 * not required for this port but included in case common demo code that uses these
macros is used. */ * macros is used. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( 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 /* Prototype of the FreeRTOS tick handler. This must be installed as the
handler for whichever peripheral is used to generate the RTOS tick. */ * handler for whichever peripheral is used to generate the RTOS tick. */
void FreeRTOS_Tick_Handler( void ); void FreeRTOS_Tick_Handler( void );
/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() /* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
before any floating point instructions are executed. */ * before any floating point instructions are executed. */
void vPortTaskUsesFPU( void ); void vPortTaskUsesFPU( void );
#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) #define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) #define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
/* Architecture specific optimisations. */ /* Architecture specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif #endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_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 ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( uxReadyPriorities ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
#ifdef configASSERT #ifdef configASSERT
void vPortValidateInterruptPriority( void ); void vPortValidateInterruptPriority( void );
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#endif /* configASSERT */ #endif /* configASSERT */
#define portNOP() __asm volatile( "NOP" ) #define portNOP() __asm volatile ( "NOP" )
#define portINLINE __inline #define portINLINE __inline
#ifdef __cplusplus #ifdef __cplusplus
} /* extern C */ } /* extern C */
#endif #endif
/* The number of bits to shift for an interrupt priority is dependent on the /* The number of bits to shift for an interrupt priority is dependent on the
number of bits implemented by the interrupt controller. */ * number of bits implemented by the interrupt controller. */
#if configUNIQUE_INTERRUPT_PRIORITIES == 16 #if configUNIQUE_INTERRUPT_PRIORITIES == 16
#define portPRIORITY_SHIFT 4 #define portPRIORITY_SHIFT 4
#define portMAX_BINARY_POINT_VALUE 3 #define portMAX_BINARY_POINT_VALUE 3
#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 #elif configUNIQUE_INTERRUPT_PRIORITIES == 32
#define portPRIORITY_SHIFT 3 #define portPRIORITY_SHIFT 3
#define portMAX_BINARY_POINT_VALUE 2 #define portMAX_BINARY_POINT_VALUE 2
#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 #elif configUNIQUE_INTERRUPT_PRIORITIES == 64
#define portPRIORITY_SHIFT 2 #define portPRIORITY_SHIFT 2
#define portMAX_BINARY_POINT_VALUE 1 #define portMAX_BINARY_POINT_VALUE 1
#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 #elif configUNIQUE_INTERRUPT_PRIORITIES == 128
#define portPRIORITY_SHIFT 1 #define portPRIORITY_SHIFT 1
#define portMAX_BINARY_POINT_VALUE 0 #define portMAX_BINARY_POINT_VALUE 0
#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 #elif configUNIQUE_INTERRUPT_PRIORITIES == 256
#define portPRIORITY_SHIFT 0 #define portPRIORITY_SHIFT 0
#define portMAX_BINARY_POINT_VALUE 0 #define portMAX_BINARY_POINT_VALUE 0
#else #else /* if configUNIQUE_INTERRUPT_PRIORITIES == 16 */
#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
#endif #endif /* if configUNIQUE_INTERRUPT_PRIORITIES == 16 */
/* Interrupt controller access addresses. */ /* Interrupt controller access addresses. */
#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) #define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 )
#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) #define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C )
#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) #define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 )
#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) #define portICCBPR_BINARY_POINT_OFFSET ( 0x08 )
#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) #define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 )
#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) #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 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 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 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 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 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 portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

673
portable/GCC/ARM_CA9/port.c
View file

@ -32,123 +32,123 @@
#include "task.h" #include "task.h"
#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS #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 #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET #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 #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#ifndef configUNIQUE_INTERRUPT_PRIORITIES #ifndef configUNIQUE_INTERRUPT_PRIORITIES
#error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#ifndef configSETUP_TICK_INTERRUPT #ifndef configSETUP_TICK_INTERRUPT
#error configSETUP_TICK_INTERRUPT() must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html #error configSETUP_TICK_INTERRUPT() must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif /* configSETUP_TICK_INTERRUPT */ #endif /* configSETUP_TICK_INTERRUPT */
#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY #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 #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See http: /*www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif #endif
#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0 #if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
#error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0 #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
#endif #endif
#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES #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 #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 #endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */ /* Check the configuration. */
#if( configMAX_PRIORITIES > 32 ) #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. #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
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* In case security extensions are implemented. */ /* In case security extensions are implemented. */
#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) #if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
#error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 ) #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
#endif #endif
/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in /* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
portmacro.h. */ * portmacro.h. */
#ifndef configCLEAR_TICK_INTERRUPT #ifndef configCLEAR_TICK_INTERRUPT
#define configCLEAR_TICK_INTERRUPT() #define configCLEAR_TICK_INTERRUPT()
#endif #endif
/* A critical section is exited when the critical section nesting count reaches /* A critical section is exited when the critical section nesting count reaches
this value. */ * this value. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
/* In all GICs 255 can be written to the priority mask register to unmask all /* In all GICs 255 can be written to the priority mask register to unmask all
(but the lowest) interrupt priority. */ * (but the lowest) interrupt priority. */
#define portUNMASK_VALUE ( 0xFFUL ) #define portUNMASK_VALUE ( 0xFFUL )
/* Tasks are not created with a floating point context, but can be given a /* 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 * 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 * 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 * does not have an FPU context, or any other value if the task does have an FPU
context. */ * context. */
#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 ) #define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 )
/* Constants required to setup the initial task context. */ /* Constants required to setup the initial task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */ #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINTERRUPT_ENABLE_BIT ( 0x80UL ) #define portINTERRUPT_ENABLE_BIT ( 0x80UL )
#define portTHUMB_MODE_ADDRESS ( 0x01UL ) #define portTHUMB_MODE_ADDRESS ( 0x01UL )
/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary /* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
point is zero. */ * point is zero. */
#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 ) #define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 )
/* Masks all bits in the APSR other than the mode bits. */ /* Masks all bits in the APSR other than the mode bits. */
#define portAPSR_MODE_BITS_MASK ( 0x1F ) #define portAPSR_MODE_BITS_MASK ( 0x1F )
/* The value of the mode bits in the APSR when the CPU is executing in user /* The value of the mode bits in the APSR when the CPU is executing in user
mode. */ * mode. */
#define portAPSR_USER_MODE ( 0x10 ) #define portAPSR_USER_MODE ( 0x10 )
/* The critical section macros only mask interrupts up to an application /* The critical section macros only mask interrupts up to an application
determined priority level. Sometimes it is necessary to turn interrupt off in * determined priority level. Sometimes it is necessary to turn interrupt off in
the CPU itself before modifying certain hardware registers. */ * the CPU itself before modifying certain hardware registers. */
#define portCPU_IRQ_DISABLE() \ #define portCPU_IRQ_DISABLE() \
__asm volatile ( "CPSID i" ::: "memory" ); \ __asm volatile ( "CPSID i" ::: "memory" ); \
__asm volatile ( "DSB" ); \ __asm volatile ( "DSB" ); \
__asm volatile ( "ISB" ); __asm volatile ( "ISB" );
#define portCPU_IRQ_ENABLE() \ #define portCPU_IRQ_ENABLE() \
__asm volatile ( "CPSIE i" ::: "memory" ); \ __asm volatile ( "CPSIE i" ::: "memory" ); \
__asm volatile ( "DSB" ); \ __asm volatile ( "DSB" ); \
__asm volatile ( "ISB" ); __asm volatile ( "ISB" );
/* Macro to unmask all interrupt priorities. */ /* Macro to unmask all interrupt priorities. */
#define portCLEAR_INTERRUPT_MASK() \ #define portCLEAR_INTERRUPT_MASK() \
{ \ { \
portCPU_IRQ_DISABLE(); \ portCPU_IRQ_DISABLE(); \
portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \ portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
__asm volatile ( "DSB \n" \ __asm volatile ( "DSB \n" \
"ISB \n" ); \ "ISB \n"); \
portCPU_IRQ_ENABLE(); \ portCPU_IRQ_ENABLE(); \
} }
#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL #define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL
#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) #define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
#define portBIT_0_SET ( ( uint8_t ) 0x01 ) #define portBIT_0_SET ( ( uint8_t ) 0x01 )
/* Let the user override the pre-loading of the initial LR with the address of /* 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 * prvTaskExitError() in case it messes up unwinding of the stack in the
debugger. */ * debugger. */
#ifdef configTASK_RETURN_ADDRESS #ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else #else
#define portTASK_RETURN_ADDRESS prvTaskExitError #define portTASK_RETURN_ADDRESS prvTaskExitError
#endif #endif
/* The space on the stack required to hold the FPU registers. This is 32 64-bit /* The space on the stack required to hold the FPU registers. This is 32 64-bit
registers, plus a 32-bit status register. */ * registers, plus a 32-bit status register. */
#define portFPU_REGISTER_WORDS ( ( 32 * 2 ) + 1 ) #define portFPU_REGISTER_WORDS ( ( 32 * 2 ) + 1 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -182,386 +182,393 @@ static void prvTaskExitError( void );
* FPU registers to be saved on interrupt entry their IRQ handler must be * FPU registers to be saved on interrupt entry their IRQ handler must be
* called vApplicationIRQHandler(). * called vApplicationIRQHandler().
*/ */
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) ); void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__( ( weak ) );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* A variable is used to keep track of the critical section nesting. This /* 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 * 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 * 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 * 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. */ * automatically be set to 0 when the first task is started. */
volatile uint32_t ulCriticalNesting = 9999UL; volatile uint32_t ulCriticalNesting = 9999UL;
/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then /* 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. */ * a floating point context must be saved and restored for the task. */
volatile uint32_t ulPortTaskHasFPUContext = pdFALSE; volatile uint32_t ulPortTaskHasFPUContext = pdFALSE;
/* Set to 1 to pend a context switch from an ISR. */ /* Set to 1 to pend a context switch from an ISR. */
volatile uint32_t ulPortYieldRequired = pdFALSE; volatile uint32_t ulPortYieldRequired = pdFALSE;
/* Counts the interrupt nesting depth. A context switch is only performed if /* Counts the interrupt nesting depth. A context switch is only performed if
if the nesting depth is 0. */ * if the nesting depth is 0. */
volatile uint32_t ulPortInterruptNesting = 0UL; volatile uint32_t ulPortInterruptNesting = 0UL;
/* Used in the asm file. */ /* Used in the asm file. */
__attribute__(( used )) const uint32_t ulICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS; __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 ulICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
__attribute__(( used )) const uint32_t ulICCPMR = portICCPMR_PRIORITY_MASK_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 ); __attribute__( ( used ) ) const uint32_t ulMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
/* Setup the initial stack of the task. The stack is set exactly as /* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. * 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;
The fist real value on the stack is the status register, which is set for if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )
system mode, with interrupts enabled. A few NULLs are added first to ensure {
GDB does not try decoding a non-existent return address. */ /* The task will start in THUMB mode. */
*pxTopOfStack = ( StackType_t ) NULL; *pxTopOfStack |= portTHUMB_MODE_BIT;
pxTopOfStack--; }
*pxTopOfStack = ( StackType_t ) NULL;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) NULL;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL ) pxTopOfStack--;
{
/* 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 the return address, which in this case is the start of the task. */ /* Next all the registers other than the stack pointer. */
*pxTopOfStack = ( StackType_t ) pxCode; *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */
pxTopOfStack--; 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--;
/* Next all the registers other than the stack pointer. */ /* The task will start with a critical nesting count of 0 as interrupts are
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */ * enabled. */
pxTopOfStack--; *pxTopOfStack = portNO_CRITICAL_NESTING;
*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 #if ( configUSE_TASK_FPU_SUPPORT == 1 )
enabled. */ {
*pxTopOfStack = portNO_CRITICAL_NESTING; /* 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 ) );
#if( configUSE_TASK_FPU_SUPPORT == 1 ) pxTopOfStack--;
{ *pxTopOfStack = pdTRUE;
/* The task will start without a floating point context. A task that ulPortTaskHasFPUContext = pdTRUE;
uses the floating point hardware must call vPortTaskUsesFPU() before }
executing any floating point instructions. */ #else /* if ( configUSE_TASK_FPU_SUPPORT == 1 ) */
pxTopOfStack--; {
*pxTopOfStack = portNO_FLOATING_POINT_CONTEXT; #error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined.
} }
#elif( configUSE_TASK_FPU_SUPPORT == 2 ) #endif /* if ( configUSE_TASK_FPU_SUPPORT == 1 ) */
{
/* 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--; return 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 ) static void prvTaskExitError( void )
{ {
/* A function that implements a task must not exit or attempt to return to /* 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 * its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ). * 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();
Artificially force an assert() to be triggered if configASSERT() is for( ; ; )
defined, then stop here so application writers can catch the error. */ {
configASSERT( ulPortInterruptNesting == ~0UL ); }
portDISABLE_INTERRUPTS();
for( ;; );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
uint32_t ulAPSR; uint32_t ulAPSR;
#if( configASSERT_DEFINED == 1 ) #if ( configASSERT_DEFINED == 1 )
{ {
volatile uint32_t ulOriginalPriority; volatile uint32_t ulOriginalPriority;
volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET ); volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
volatile uint8_t ucMaxPriorityValue; volatile uint8_t ucMaxPriorityValue;
/* Determine how many priority bits are implemented in the GIC. /* Determine how many priority bits are implemented in the GIC.
*
* Save the interrupt priority value that is about to be clobbered. */
ulOriginalPriority = *pucFirstUserPriorityRegister;
Save the interrupt priority value that is about to be clobbered. */ /* Determine the number of priority bits available. First write to
ulOriginalPriority = *pucFirstUserPriorityRegister; * all possible bits. */
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Determine the number of priority bits available. First write to /* Read the value back to see how many bits stuck. */
all possible bits. */ ucMaxPriorityValue = *pucFirstUserPriorityRegister;
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
/* Read the value back to see how many bits stuck. */ /* Shift to the least significant bits. */
ucMaxPriorityValue = *pucFirstUserPriorityRegister; while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
{
ucMaxPriorityValue >>= ( uint8_t ) 0x01;
}
/* Shift to the least significant bits. */ /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET ) * value. */
{ configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );
ucMaxPriorityValue >>= ( uint8_t ) 0x01;
}
/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read /* Restore the clobbered interrupt priority register to its original
value. */ * value. */
configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY ); *pucFirstUserPriorityRegister = ulOriginalPriority;
}
/* Restore the clobbered interrupt priority register to its original #endif /* conifgASSERT_DEFINED */
value. */
*pucFirstUserPriorityRegister = ulOriginalPriority;
}
#endif /* conifgASSERT_DEFINED */
/* Only continue if the CPU is not in User mode. The CPU must be in a /* Only continue if the CPU is not in User mode. The CPU must be in a
Privileged mode for the scheduler to start. */ * Privileged mode for the scheduler to start. */
__asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) :: "memory" ); __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR )::"memory" );
ulAPSR &= portAPSR_MODE_BITS_MASK; ulAPSR &= portAPSR_MODE_BITS_MASK;
configASSERT( ulAPSR != portAPSR_USER_MODE ); configASSERT( ulAPSR != portAPSR_USER_MODE );
if( ulAPSR != portAPSR_USER_MODE ) if( ulAPSR != portAPSR_USER_MODE )
{ {
/* Only continue if the binary point value is set to its lowest possible /* Only continue if the binary point value is set to its lowest possible
setting. See the comments in vPortValidateInterruptPriority() below for * setting. See the comments in vPortValidateInterruptPriority() below for
more information. */ * more information. */
configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE ); configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
if( ( 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 /* Interrupts are turned off in the CPU itself to ensure tick does
not execute while the scheduler is being started. Interrupts are * not execute while the scheduler is being started. Interrupts are
automatically turned back on in the CPU when the first task starts * automatically turned back on in the CPU when the first task starts
executing. */ * executing. */
portCPU_IRQ_DISABLE(); portCPU_IRQ_DISABLE();
/* Start the timer that generates the tick ISR. */ /* Start the timer that generates the tick ISR. */
configSETUP_TICK_INTERRUPT(); configSETUP_TICK_INTERRUPT();
/* Start the first task executing. */ /* Start the first task executing. */
vPortRestoreTaskContext(); vPortRestoreTaskContext();
} }
} }
/* Will only get here if vTaskStartScheduler() was called with the CPU in /* 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 * a non-privileged mode or the binary point register was not set to its lowest
possible value. prvTaskExitError() is referenced to prevent a compiler * possible value. prvTaskExitError() is referenced to prevent a compiler
warning about it being defined but not referenced in the case that the user * warning about it being defined but not referenced in the case that the user
defines their own exit address. */ * defines their own exit address. */
( void ) prvTaskExitError; ( void ) prvTaskExitError;
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */ * Artificially force an assert. */
configASSERT( ulCriticalNesting == 1000UL ); configASSERT( ulCriticalNesting == 1000UL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Mask interrupts up to the max syscall interrupt priority. */ /* Mask interrupts up to the max syscall interrupt priority. */
ulPortSetInterruptMask(); ulPortSetInterruptMask();
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times * directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */ * portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
/* This is not the interrupt safe version of the enter critical function so /* 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 * 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 * 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 * the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */ * assert function also uses a critical section. */
if( ulCriticalNesting == 1 ) if( ulCriticalNesting == 1 )
{ {
configASSERT( ulPortInterruptNesting == 0 ); configASSERT( ulPortInterruptNesting == 0 );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > portNO_CRITICAL_NESTING ) if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{ {
/* Decrement the nesting count as the critical section is being /* Decrement the nesting count as the critical section is being
exited. */ * exited. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then all interrupt /* If the nesting level has reached zero then all interrupt
priorities must be re-enabled. */ * priorities must be re-enabled. */
if( ulCriticalNesting == portNO_CRITICAL_NESTING ) if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{ {
/* Critical nesting has reached zero so all interrupt priorities /* Critical nesting has reached zero so all interrupt priorities
should be unmasked. */ * should be unmasked. */
portCLEAR_INTERRUPT_MASK(); portCLEAR_INTERRUPT_MASK();
} }
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void FreeRTOS_Tick_Handler( void ) void FreeRTOS_Tick_Handler( void )
{ {
/* Set interrupt mask before altering scheduler structures. The tick /* Set interrupt mask before altering scheduler structures. The tick
handler runs at the lowest priority, so interrupts cannot already be masked, * 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 * 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 * necessary to turn off interrupts in the CPU itself while the ICCPMR is being
updated. */ * updated. */
portCPU_IRQ_DISABLE(); portCPU_IRQ_DISABLE();
portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ); portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
__asm volatile ( "dsb \n" __asm volatile ( "dsb \n"
"isb \n" ::: "memory" ); "isb \n"::: "memory" );
portCPU_IRQ_ENABLE(); portCPU_IRQ_ENABLE();
/* Increment the RTOS tick. */ /* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
ulPortYieldRequired = pdTRUE; ulPortYieldRequired = pdTRUE;
} }
/* Ensure all interrupt priorities are active again. */ /* Ensure all interrupt priorities are active again. */
portCLEAR_INTERRUPT_MASK(); portCLEAR_INTERRUPT_MASK();
configCLEAR_TICK_INTERRUPT(); configCLEAR_TICK_INTERRUPT();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configUSE_TASK_FPU_SUPPORT != 2 ) #if ( configUSE_TASK_FPU_SUPPORT != 2 )
void vPortTaskUsesFPU( void ) void vPortTaskUsesFPU( void )
{ {
uint32_t ulInitialFPSCR = 0; uint32_t ulInitialFPSCR = 0;
/* A task is registering the fact that it needs an FPU context. Set the /* 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). */ * FPU flag (which is saved as part of the task context). */
ulPortTaskHasFPUContext = pdTRUE; ulPortTaskHasFPUContext = pdTRUE;
/* Initialise the floating point status register. */ /* Initialise the floating point status register. */
__asm volatile ( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) : "memory" ); __asm volatile ( "FMXR FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" );
} }
#endif /* configUSE_TASK_FPU_SUPPORT */ #endif /* configUSE_TASK_FPU_SUPPORT */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortClearInterruptMask( uint32_t ulNewMaskValue ) void vPortClearInterruptMask( uint32_t ulNewMaskValue )
{ {
if( ulNewMaskValue == pdFALSE ) if( ulNewMaskValue == pdFALSE )
{ {
portCLEAR_INTERRUPT_MASK(); portCLEAR_INTERRUPT_MASK();
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulPortSetInterruptMask( void ) uint32_t ulPortSetInterruptMask( void )
{ {
uint32_t ulReturn; uint32_t ulReturn;
/* Interrupt in the CPU must be turned off while the ICCPMR is being /* Interrupt in the CPU must be turned off while the ICCPMR is being
updated. */ * updated. */
portCPU_IRQ_DISABLE(); 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( 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 ) #if ( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void ) void vPortValidateInterruptPriority( void )
{ {
/* The following assertion will fail if a service routine (ISR) for /* The following assertion will fail if a service routine (ISR) for
an interrupt that has been assigned a priority above * an interrupt that has been assigned a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
function. ISR safe FreeRTOS API functions must *only* be called * function. ISR safe FreeRTOS API functions must *only* be called
from interrupts that have been assigned a priority at or below * from interrupts that have been assigned a priority at or below
configMAX_SYSCALL_INTERRUPT_PRIORITY. * 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 ) );
Numerically low interrupt priority numbers represent logically high /* Priority grouping: The interrupt controller (GIC) allows the bits
interrupt priorities, therefore the priority of the interrupt must * that define each interrupt's priority to be split between bits that
be set to a value equal to or numerically *higher* than * define the interrupt's pre-emption priority bits and bits that define
configMAX_SYSCALL_INTERRUPT_PRIORITY. * the interrupt's sub-priority. For simplicity all bits must be defined
* to be pre-emption priority bits. The following assertion will fail if
FreeRTOS maintains separate thread and ISR API functions to ensure * this is not the case (if some bits represent a sub-priority).
interrupt entry is as fast and simple as possible. */ *
configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) ); * 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
/* Priority grouping: The interrupt controller (GIC) allows the bits * possible value (which may be above 0). */
that define each interrupt's priority to be split between bits that configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
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 */ #endif /* configASSERT_DEFINED */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
{ {
( void ) ulICCIAR; ( void ) ulICCIAR;
configASSERT( ( volatile void * ) NULL ); configASSERT( ( volatile void * ) NULL );
} }

236
portable/GCC/ARM_CA9/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -42,166 +42,166 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
/* Called at the end of an ISR that can cause a context switch. */ /* Called at the end of an ISR that can cause a context switch. */
#define portEND_SWITCHING_ISR( xSwitchRequired )\ #define portEND_SWITCHING_ISR( xSwitchRequired ) \
{ \ { \
extern uint32_t ulPortYieldRequired; \ extern uint32_t ulPortYieldRequired; \
\ \
if( xSwitchRequired != pdFALSE ) \ if( xSwitchRequired != pdFALSE ) \
{ \ { \
ulPortYieldRequired = pdTRUE; \ ulPortYieldRequired = pdTRUE; \
} \ } \
} }
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
#define portYIELD() __asm volatile ( "SWI 0" ::: "memory" ); #define portYIELD() __asm volatile ( "SWI 0" ::: "memory" );
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Critical section control * Critical section control
*----------------------------------------------------------*/ *----------------------------------------------------------*/
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
extern uint32_t ulPortSetInterruptMask( void ); extern uint32_t ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( uint32_t ulNewMaskValue ); extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
extern void vPortInstallFreeRTOSVectorTable( void ); extern void vPortInstallFreeRTOSVectorTable( void );
/* These macros do not globally disable/enable interrupts. They do mask off /* These macros do not globally disable/enable interrupts. They do mask off
interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ * interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() #define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) #define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 )
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vPortClearInterruptMask( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* 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 * not required for this port but included in case common demo code that uses these
macros is used. */ * macros is used. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( 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 /* Prototype of the FreeRTOS tick handler. This must be installed as the
handler for whichever peripheral is used to generate the RTOS tick. */ * handler for whichever peripheral is used to generate the RTOS tick. */
void FreeRTOS_Tick_Handler( void ); void FreeRTOS_Tick_Handler( void );
/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are /* 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 * created without an FPU context and must call vPortTaskUsesFPU() to give
themselves an FPU context before using any FPU instructions. If * 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 * configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU context
by default. */ * by default. */
#if( configUSE_TASK_FPU_SUPPORT != 2 ) #if ( configUSE_TASK_FPU_SUPPORT != 2 )
void vPortTaskUsesFPU( void ); void vPortTaskUsesFPU( void );
#else #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 ) /* Each task has an FPU context already, so define this function away to
#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) * 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. */ /* Architecture specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif #endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_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 ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
#ifdef configASSERT #ifdef configASSERT
void vPortValidateInterruptPriority( void ); void vPortValidateInterruptPriority( void );
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority() #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#endif /* configASSERT */ #endif /* configASSERT */
#define portNOP() __asm volatile( "NOP" ) #define portNOP() __asm volatile ( "NOP" )
#define portINLINE __inline #define portINLINE __inline
#ifdef __cplusplus #ifdef __cplusplus
} /* extern C */ } /* extern C */
#endif #endif
/* The number of bits to shift for an interrupt priority is dependent on the /* The number of bits to shift for an interrupt priority is dependent on the
number of bits implemented by the interrupt controller. */ * number of bits implemented by the interrupt controller. */
#if configUNIQUE_INTERRUPT_PRIORITIES == 16 #if configUNIQUE_INTERRUPT_PRIORITIES == 16
#define portPRIORITY_SHIFT 4 #define portPRIORITY_SHIFT 4
#define portMAX_BINARY_POINT_VALUE 3 #define portMAX_BINARY_POINT_VALUE 3
#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 #elif configUNIQUE_INTERRUPT_PRIORITIES == 32
#define portPRIORITY_SHIFT 3 #define portPRIORITY_SHIFT 3
#define portMAX_BINARY_POINT_VALUE 2 #define portMAX_BINARY_POINT_VALUE 2
#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 #elif configUNIQUE_INTERRUPT_PRIORITIES == 64
#define portPRIORITY_SHIFT 2 #define portPRIORITY_SHIFT 2
#define portMAX_BINARY_POINT_VALUE 1 #define portMAX_BINARY_POINT_VALUE 1
#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 #elif configUNIQUE_INTERRUPT_PRIORITIES == 128
#define portPRIORITY_SHIFT 1 #define portPRIORITY_SHIFT 1
#define portMAX_BINARY_POINT_VALUE 0 #define portMAX_BINARY_POINT_VALUE 0
#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 #elif configUNIQUE_INTERRUPT_PRIORITIES == 256
#define portPRIORITY_SHIFT 0 #define portPRIORITY_SHIFT 0
#define portMAX_BINARY_POINT_VALUE 0 #define portMAX_BINARY_POINT_VALUE 0
#else #else /* if configUNIQUE_INTERRUPT_PRIORITIES == 16 */
#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
#endif #endif /* if configUNIQUE_INTERRUPT_PRIORITIES == 16 */
/* Interrupt controller access addresses. */ /* Interrupt controller access addresses. */
#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) #define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 )
#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) #define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C )
#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) #define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 )
#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 ) #define portICCBPR_BINARY_POINT_OFFSET ( 0x08 )
#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 ) #define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 )
#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) #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 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 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 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 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 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 portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

707
portable/GCC/ARM_CM0/port.c
View file

@ -25,48 +25,48 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM CM0 port. * Implementation of functions defined in portable.h for the ARM CM0 port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
/* Constants required to manipulate the NVIC. */ /* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) #define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) #define portNVIC_SYSTICK_LOAD_REG ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) #define portNVIC_SYSTICK_CURRENT_VALUE_REG ( *( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SYSPRI2_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
/* Constants required to set up the initial stack. */ /* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 ) #define portINITIAL_XPSR ( 0x01000000 )
/* The systick is a 24-bit counter. */ /* The systick is a 24-bit counter. */
#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) #define portMAX_24_BIT_NUMBER ( 0xffffffUL )
/* A fiddle factor to estimate the number of SysTick counts that would have /* A fiddle factor to estimate the number of SysTick counts that would have
occurred while the SysTick counter is stopped during tickless idle * occurred while the SysTick counter is stopped during tickless idle
calculations. */ * calculations. */
#ifndef portMISSED_COUNTS_FACTOR #ifndef portMISSED_COUNTS_FACTOR
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 45UL )
#endif #endif
/* Let the user override the pre-loading of the initial LR with the address of /* 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 * prvTaskExitError() in case it messes up unwinding of the stack in the
debugger. */ * debugger. */
#ifdef configTASK_RETURN_ADDRESS #ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else #else
#define portTASK_RETURN_ADDRESS prvTaskExitError #define portTASK_RETURN_ADDRESS prvTaskExitError
#endif #endif
/* /*
@ -79,14 +79,14 @@ void vPortSetupTimerInterrupt( void );
/* /*
* Exception handlers. * Exception handlers.
*/ */
void xPortPendSVHandler( void ) __attribute__ (( naked )); void xPortPendSVHandler( void ) __attribute__( ( naked ) );
void xPortSysTickHandler( void ); void xPortSysTickHandler( void );
void vPortSVCHandler( void ); void vPortSVCHandler( void );
/* /*
* Start first task is a separate function so it can be tested in isolation. * Start first task is a separate function so it can be tested in isolation.
*/ */
static void vPortStartFirstTask( void ) __attribute__ (( naked )); static void vPortStartFirstTask( void ) __attribute__( ( naked ) );
/* /*
* Used to catch tasks that attempt to return from their implementing function. * Used to catch tasks that attempt to return from their implementing function.
@ -96,32 +96,32 @@ static void prvTaskExitError( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting /* Each task maintains its own interrupt status in the critical nesting
variable. */ * variable. */
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* The number of SysTick increments that make up one tick period. * The number of SysTick increments that make up one tick period.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulTimerCountsForOneTick = 0; static uint32_t ulTimerCountsForOneTick = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
* The maximum number of tick periods that can be suppressed is limited by the * The maximum number of tick periods that can be suppressed is limited by the
* 24 bit resolution of the SysTick timer. * 24 bit resolution of the SysTick timer.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t xMaximumPossibleSuppressedTicks = 0; static uint32_t xMaximumPossibleSuppressedTicks = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* /*
* Compensate for the CPU cycles that pass while the SysTick is stopped (low * Compensate for the CPU cycles that pass while the SysTick is stopped (low
* power functionality only. * power functionality only.
*/ */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
static uint32_t ulStoppedTimerCompensation = 0; static uint32_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -129,81 +129,84 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{ {
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
interrupt. */ * interrupt. */
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */ *pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 8; /* R11..R4. */ pxTopOfStack -= 8; /* R11..R4. */
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvTaskExitError( void ) static void prvTaskExitError( void )
{ {
volatile uint32_t ulDummy = 0UL; volatile uint32_t ulDummy = 0UL;
/* A function that implements a task must not exit or attempt to return to /* 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 * its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ). * 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();
Artificially force an assert() to be triggered if configASSERT() is while( ulDummy == 0 )
defined, then stop here so application writers can catch the error. */ {
configASSERT( uxCriticalNesting == ~0UL ); /* This file calls prvTaskExitError() after the scheduler has been
portDISABLE_INTERRUPTS(); * started to remove a compiler warning about the function being defined
while( ulDummy == 0 ) * but never called. ulDummy is used purely to quieten other warnings
{ * about code appearing after this function is called - making ulDummy
/* This file calls prvTaskExitError() after the scheduler has been * volatile makes the compiler think the function could return and
started to remove a compiler warning about the function being defined * therefore not output an 'unreachable code' warning for code that appears
but never called. ulDummy is used purely to quieten other warnings * after it. */
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 ) void vPortSVCHandler( void )
{ {
/* This function is no longer used, but retained for backward /* This function is no longer used, but retained for backward
compatibility. */ * compatibility. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortStartFirstTask( void ) void vPortStartFirstTask( void )
{ {
/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector /* 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. * 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. */ * Not all M0 parts have the application vector table at address 0. */
__asm volatile( __asm volatile (
" .syntax unified \n" " .syntax unified \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Obtain location of pxCurrentTCB. */ " ldr r2, pxCurrentTCBConst2 \n"/* Obtain location of pxCurrentTCB. */
" ldr r3, [r2] \n" " ldr r3, [r2] \n"
" ldr r0, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */ " ldr r0, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " 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. */ " movs r0, #2 \n"/* Switch to the psp stack. */
" msr CONTROL, r0 \n" " msr CONTROL, r0 \n"
" isb \n" " isb \n"
" pop {r0-r5} \n" /* Pop the registers that are saved automatically. */ " pop {r0-r5} \n"/* Pop the registers that are saved automatically. */
" mov lr, r5 \n" /* lr is now in r5. */ " mov lr, r5 \n"/* lr is now in r5. */
" pop {r3} \n" /* Return address is now in r3. */ " pop {r3} \n"/* Return address is now in r3. */
" pop {r2} \n" /* Pop and discard XPSR. */ " pop {r2} \n"/* Pop and discard XPSR. */
" cpsie i \n" /* The first task has its context and interrupts can be enabled. */ " 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. */ " bx r3 \n"/* Finally, jump to the user defined task code. */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB " "pxCurrentTCBConst2: .word pxCurrentTCB "
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -212,158 +215,159 @@ void vPortStartFirstTask( void )
*/ */
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler( void )
{ {
/* Make PendSV, CallSV and SysTick the same priority as the kernel. */ /* Make PendSV, CallSV and SysTick the same priority as the kernel. */
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */ * here already. */
vPortSetupTimerInterrupt(); vPortSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */ /* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0; uxCriticalNesting = 0;
/* Start the first task. */ /* Start the first task. */
vPortStartFirstTask(); vPortStartFirstTask();
/* Should never get here as the tasks will now be executing! Call the task /* 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 * exit error function to prevent compiler warnings about a static function
not being called in the case that the application writer overrides this * not being called in the case that the application writer overrides this
functionality by defining configTASK_RETURN_ADDRESS. Call * functionality by defining configTASK_RETURN_ADDRESS. Call
vTaskSwitchContext() so link time optimisation does not remove the * vTaskSwitchContext() so link time optimisation does not remove the
symbol. */ * symbol. */
vTaskSwitchContext(); vTaskSwitchContext();
prvTaskExitError(); prvTaskExitError();
/* Should not get here! */ /* Should not get here! */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */ * Artificially force an assert. */
configASSERT( uxCriticalNesting == 1000UL ); configASSERT( uxCriticalNesting == 1000UL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortYield( void ) void vPortYield( void )
{ {
/* Set a PendSV to request a context switch. */ /* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely /* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */ * within the specified behaviour for the architecture. */
__asm volatile( "dsb" ::: "memory" ); __asm volatile ( "dsb" ::: "memory" );
__asm volatile( "isb" ); __asm volatile ( "isb" );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
uxCriticalNesting++; uxCriticalNesting++;
__asm volatile( "dsb" ::: "memory" ); __asm volatile ( "dsb" ::: "memory" );
__asm volatile( "isb" ); __asm volatile ( "isb" );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
configASSERT( uxCriticalNesting ); configASSERT( uxCriticalNesting );
uxCriticalNesting--; uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{ if( uxCriticalNesting == 0 )
portENABLE_INTERRUPTS(); {
} portENABLE_INTERRUPTS();
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulSetInterruptMaskFromISR( void ) uint32_t ulSetInterruptMaskFromISR( void )
{ {
__asm volatile( __asm volatile (
" mrs r0, PRIMASK \n" " mrs r0, PRIMASK \n"
" cpsid i \n" " cpsid i \n"
" bx lr " " bx lr "
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vClearInterruptMaskFromISR( __attribute__( ( unused ) ) uint32_t ulMask ) void vClearInterruptMaskFromISR( __attribute__( ( unused ) ) uint32_t ulMask )
{ {
__asm volatile( __asm volatile (
" msr PRIMASK, r0 \n" " msr PRIMASK, r0 \n"
" bx lr " " bx lr "
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void xPortPendSVHandler( void ) void xPortPendSVHandler( void )
{ {
/* This is a naked function. */ /* This is a naked function. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" mrs r0, psp \n" " mrs r0, psp \n"
" \n" " \n"
" ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ " ldr r3, pxCurrentTCBConst \n"/* Get the location of the current TCB. */
" ldr r2, [r3] \n" " ldr r2, [r3] \n"
" \n" " \n"
" subs r0, r0, #32 \n" /* Make space for the remaining low registers. */ " subs r0, r0, #32 \n"/* Make space for the remaining low registers. */
" str r0, [r2] \n" /* Save the new top of stack. */ " str r0, [r2] \n"/* Save the new top of stack. */
" stmia r0!, {r4-r7} \n" /* Store the low registers that are not saved automatically. */ " stmia r0!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */
" mov r4, r8 \n" /* Store the high registers. */ " mov r4, r8 \n"/* Store the high registers. */
" mov r5, r9 \n" " mov r5, r9 \n"
" mov r6, r10 \n" " mov r6, r10 \n"
" mov r7, r11 \n" " mov r7, r11 \n"
" stmia r0!, {r4-r7} \n" " stmia r0!, {r4-r7} \n"
" \n" " \n"
" push {r3, r14} \n" " push {r3, r14} \n"
" cpsid i \n" " cpsid i \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" cpsie i \n" " cpsie i \n"
" pop {r2, r3} \n" /* lr goes in r3. r2 now holds tcb pointer. */ " pop {r2, r3} \n"/* lr goes in r3. r2 now holds tcb pointer. */
" \n" " \n"
" ldr r1, [r2] \n" " ldr r1, [r2] \n"
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ " 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. */ " adds r0, r0, #16 \n"/* Move to the high registers. */
" ldmia r0!, {r4-r7} \n" /* Pop the high registers. */ " ldmia r0!, {r4-r7} \n"/* Pop the high registers. */
" mov r8, r4 \n" " mov r8, r4 \n"
" mov r9, r5 \n" " mov r9, r5 \n"
" mov r10, r6 \n" " mov r10, r6 \n"
" mov r11, r7 \n" " mov r11, r7 \n"
" \n" " \n"
" msr psp, r0 \n" /* Remember the new top of stack for the task. */ " msr psp, r0 \n"/* Remember the new top of stack for the task. */
" \n" " \n"
" subs r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */ " subs r0, r0, #32 \n"/* Go back for the low registers that are not automatically restored. */
" ldmia r0!, {r4-r7} \n" /* Pop low registers. */ " ldmia r0!, {r4-r7} \n"/* Pop low registers. */
" \n" " \n"
" bx r3 \n" " bx r3 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB " "pxCurrentTCBConst: .word pxCurrentTCB "
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void xPortSysTickHandler( void ) void xPortSysTickHandler( void )
{ {
uint32_t ulPreviousMask; uint32_t ulPreviousMask;
ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR(); ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
{ {
/* Increment the RTOS tick. */ /* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE ) if( xTaskIncrementTick() != pdFALSE )
{ {
/* Pend a context switch. */ /* Pend a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
} }
} }
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask ); portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -371,189 +375,192 @@ uint32_t ulPreviousMask;
* Setup the systick timer to generate the tick interrupts at the required * Setup the systick timer to generate the tick interrupts at the required
* frequency. * frequency.
*/ */
__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR; ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR;
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
portNVIC_SYSTICK_CTRL_REG = 0UL; portNVIC_SYSTICK_CTRL_REG = 0UL;
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; 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; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
{ {
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for /* 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 * 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 * inevitably result in some tiny drift of the time maintained by the
kernel with respect to calendar time. */ * kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime /* Calculate the reload value required to wait xExpectedIdleTime
tick periods. -1 is used because this code will execute part way * tick periods. -1 is used because this code will execute part way
through one of the tick periods. */ * through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); 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() if( ulReloadValue > ulStoppedTimerCompensation )
method as that will mask interrupts that should exit sleep mode. */ {
__asm volatile( "cpsid i" ::: "memory" ); ulReloadValue -= ulStoppedTimerCompensation;
__asm volatile( "dsb" ); }
__asm volatile( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* Enter a critical section but don't use the taskENTER_CRITICAL()
to be unsuspended then abandon the low power entry. */ * method as that will mask interrupts that should exit sleep mode. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) __asm volatile ( "cpsid i" ::: "memory" );
{ __asm volatile ( "dsb" );
/* Restart from whatever is left in the count register to complete __asm volatile ( "isb" );
this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */ /* If a context switch is pending or a task is waiting for the scheduler
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; * 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;
/* Reset the reload register to the value required for normal tick /* Restart SysTick. */
periods. */ portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction() /* Reset the reload register to the value required for normal tick
above. */ * periods. */
__asm volatile( "cpsie i" ::: "memory" ); portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
else
{
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Clear the SysTick count flag and set the count value back to /* Re-enable interrupts - see comments above the cpsid instruction()
zero. */ * above. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; __asm volatile ( "cpsie i" ::: "memory" );
}
else
{
/* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
/* Restart SysTick. */ /* Clear the SysTick count flag and set the count value back to
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; * zero. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Restart SysTick. */
set its parameter to 0 to indicate that its implementation contains portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
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 /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
out of sleep mode to execute immediately. see comments above * set its parameter to 0 to indicate that its implementation contains
__disable_interrupt() call above. */ * its own wait for interrupt or wait for event instruction, and so wfi
__asm volatile( "cpsie i" ::: "memory" ); * should not be executed again. However, the original expected idle
__asm volatile( "dsb" ); * time variable must remain unmodified, so a copy is taken. */
__asm volatile( "isb" ); xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
/* Disable interrupts again because the clock is about to be stopped if( xModifiableIdleTime > 0 )
and interrupts that execute while the clock is stopped will increase {
any slippage between the time maintained by the RTOS and calendar __asm volatile ( "dsb" ::: "memory" );
time. */ __asm volatile ( "wfi" );
__asm volatile( "cpsid i" ::: "memory" ); __asm volatile ( "isb" );
__asm volatile( "dsb" ); }
__asm volatile( "isb" );
/* Disable the SysTick clock without reading the configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
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 /* Re-enable interrupts to allow the interrupt that brought the MCU
been set back to the current reload value (the reload back being * out of sleep mode to execute immediately. see comments above
correct for the entire expected idle time) or if the SysTick is yet * __disable_interrupt() call above. */
to count to zero (in which case an interrupt other than the SysTick __asm volatile ( "cpsie i" ::: "memory" );
must have brought the system out of sleep mode). */ __asm volatile ( "dsb" );
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) __asm volatile ( "isb" );
{
uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* Disable interrupts again because the clock is about to be stopped
reloaded with ulReloadValue. Reset the * and interrupts that execute while the clock is stopped will increase
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * any slippage between the time maintained by the RTOS and calendar
period. */ * time. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" );
__asm volatile ( "isb" );
/* Don't allow a tiny value, or values that have somehow /* Disable the SysTick clock without reading the
underflowed because the post sleep hook did something * portNVIC_SYSTICK_CTRL_REG register to ensure the
that took too long. */ * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * 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
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); * 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 );
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; /* 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;
/* As the pending tick will be processed as soon as this /* The tick interrupt is already pending, and the SysTick count
function exits, the tick value maintained by the tick is stepped * reloaded with ulReloadValue. Reset the
forward by one less than the time spent waiting. */ * portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; * period. */
} ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
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 /* Don't allow a tiny value, or values that have somehow
was waiting? */ * underflowed because the post sleep hook did something
ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; * that took too long. */
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
}
/* The reload value is set to whatever fraction of a single tick portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
period remains. */
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
}
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* As the pending tick will be processed as soon as this
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * function exits, the tick value maintained by the tick is stepped
value. */ * forward by one less than the time spent waiting. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; }
vTaskStepTick( ulCompleteTickPeriods ); else
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; {
/* 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;
/* Exit with interrpts enabled. */ /* How many complete tick periods passed while the processor
__asm volatile( "cpsie i" ::: "memory" ); * 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 */ #endif /* configUSE_TICKLESS_IDLE */

111
portable/GCC/ARM_CM0/portmacro.h
View file

@ -26,11 +26,11 @@
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -43,82 +43,81 @@ extern "C" {
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portDONT_DISCARD __attribute__(( used )) #define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Scheduler utilities. */ /* Scheduler utilities. */
extern void vPortYield( void ); extern void vPortYield( void );
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section management. */ /* Critical section management. */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
extern uint32_t ulSetInterruptMaskFromISR( void ) __attribute__((naked)); extern uint32_t ulSetInterruptMaskFromISR( void ) __attribute__( ( naked ) );
extern void vClearInterruptMaskFromISR( uint32_t ulMask ) __attribute__((naked)); extern void vClearInterruptMaskFromISR( uint32_t ulMask ) __attribute__( ( naked ) );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMaskFromISR( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMaskFromISR( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */ /* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portNOP() #define portNOP()
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

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portable/GCC/ARM_CM23/non_secure/port.c
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portable/GCC/ARM_CM23/non_secure/portasm.c
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@ -38,415 +38,415 @@
* header files. */ * header files. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#if( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
#endif #endif
void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst2 \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst2 \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r3, [r2] \n" /* Read 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. */ " ldr r0, [r3] \n"/* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" bics r4, r5 \n" /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ " 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 r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const2 \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const2 \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst2 \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst2 \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
" movs r5, #4 \n" /* r5 = 4. */ " movs r5, #4 \n"/* r5 = 4. */
" str r5, [r2] \n" /* Program RNR = 4. */ " str r5, [r2] \n"/* Program RNR = 4. */
" ldmia r3!, {r6,r7} \n" /* Read first set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write first set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */
" movs r5, #5 \n" /* r5 = 5. */ " movs r5, #5 \n"/* r5 = 5. */
" str r5, [r2] \n" /* Program RNR = 5. */ " str r5, [r2] \n"/* Program RNR = 5. */
" ldmia r3!, {r6,r7} \n" /* Read second set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write second set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */
" movs r5, #6 \n" /* r5 = 6. */ " movs r5, #6 \n"/* r5 = 6. */
" str r5, [r2] \n" /* Program RNR = 6. */ " str r5, [r2] \n"/* Program RNR = 6. */
" ldmia r3!, {r6,r7} \n" /* Read third set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write third set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */
" movs r5, #7 \n" /* r5 = 7. */ " movs r5, #7 \n"/* r5 = 7. */
" str r5, [r2] \n" /* Program RNR = 7. */ " str r5, [r2] \n"/* Program RNR = 7. */
" ldmia r3!, {r6,r7} \n" /* Read fourth set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst2 \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst2 \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write fourth set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst2 \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst2 \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" orrs r4, r5 \n" /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldm r0!, {r1-r4} \n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */ " ldm r0!, {r1-r4} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = EXC_RETURN. */
" ldr r5, xSecureContextConst2 \n" " ldr r5, xSecureContextConst2 \n"
" str r1, [r5] \n" /* Set xSecureContext to this task's value for the same. */ " 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 psplim, r2 \n"/* Set this task's PSPLIM value. */
" msr control, r3 \n" /* Set this task's CONTROL value. */ " msr control, r3 \n"/* Set this task's CONTROL value. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r4 \n" /* Finally, branch to EXC_RETURN. */ " bx r4 \n"/* Finally, branch to EXC_RETURN. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldm r0!, {r1-r3} \n" /* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */ " ldm r0!, {r1-r3} \n"/* Read from stack - r1 = xSecureContext, r2 = PSPLIM and r3 = EXC_RETURN. */
" ldr r4, xSecureContextConst2 \n" " ldr r4, xSecureContextConst2 \n"
" str r1, [r4] \n" /* Set xSecureContext to this task's value for the same. */ " str r1, [r4] \n"/* Set xSecureContext to this task's value for the same. */
" msr psplim, r2 \n" /* Set this task's PSPLIM value. */ " msr psplim, r2 \n"/* Set this task's PSPLIM value. */
" movs r1, #2 \n" /* r1 = 2. */ " movs r1, #2 \n"/* r1 = 2. */
" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ " msr CONTROL, r1 \n"/* Switch to use PSP in the thread mode. */
" adds r0, #32 \n" /* Discard everything up to r0. */ " 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. */ " msr psp, r0 \n"/* This is now the new top of stack to use in the task. */
" isb \n" " isb \n"
" bx r3 \n" /* Finally, branch to EXC_RETURN. */ " bx r3 \n"/* Finally, branch to EXC_RETURN. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n" "pxCurrentTCBConst2: .word pxCurrentTCB \n"
"xSecureContextConst2: .word xSecureContext \n" "xSecureContextConst2: .word xSecureContext \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst2: .word 0xe000ed94 \n" "xMPUCTRLConst2: .word 0xe000ed94 \n"
"xMAIR0Const2: .word 0xe000edc0 \n" "xMAIR0Const2: .word 0xe000edc0 \n"
"xRNRConst2: .word 0xe000ed98 \n" "xRNRConst2: .word 0xe000ed98 \n"
"xRBARConst2: .word 0xe000ed9c \n" "xRBARConst2: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" tst r0, r1 \n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ " 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. */ " 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. */ " movs r0, #0 \n"/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" running_privileged: \n" " running_privileged: \n"
" movs r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ " movs r0, #1 \n"/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
" \n" " \n"
" .align 4 \n" " .align 4 \n"
::: "r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* Read the CONTROL register. */ " mrs r0, control \n"/* Read the CONTROL register. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" bics r0, r1 \n" /* Clear the bit 0. */ " bics r0, r1 \n"/* Clear the bit 0. */
" msr control, r0 \n" /* Write back the new CONTROL value. */ " msr control, r0 \n"/* Write back the new CONTROL value. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
::: "r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vResetPrivilege( void ) /* __attribute__ (( naked )) */ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" mrs r0, control \n" /* r0 = CONTROL. */ " mrs r0, control \n"/* r0 = CONTROL. */
" movs r1, #1 \n" /* r1 = 1. */ " movs r1, #1 \n"/* r1 = 1. */
" orrs r0, r1 \n" /* r0 = r0 | r1. */ " orrs r0, r1 \n"/* r0 = r0 | r1. */
" msr control, r0 \n" /* CONTROL = r0. */ " msr control, r0 \n"/* CONTROL = r0. */
" bx lr \n" /* Return to the caller. */ " bx lr \n"/* Return to the caller. */
:::"r0", "r1", "memory" ::: "r0", "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r0, xVTORConst \n" /* Use the NVIC offset register to locate the stack. */ " 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"/* Read the VTOR register which gives the address of vector table. */
" ldr r0, [r0] \n" /* The first entry in vector table is stack pointer. */ " 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. */ " msr msp, r0 \n"/* Set the MSP back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */ " cpsie i \n"/* Globally enable interrupts. */
" dsb \n" " dsb \n"
" isb \n" " isb \n"
" svc %0 \n" /* System call to start the first task. */ " svc %0 \n"/* System call to start the first task. */
" nop \n" " nop \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"xVTORConst: .word 0xe000ed08 \n" "xVTORConst: .word 0xe000ed08 \n"
:: "i" ( portSVC_START_SCHEDULER ) : "memory" ::"i" ( portSVC_START_SCHEDULER ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" mrs r0, PRIMASK \n" " mrs r0, PRIMASK \n"
" cpsid i \n" " cpsid i \n"
" bx lr \n" " bx lr \n"
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" msr PRIMASK, r0 \n" " msr PRIMASK, r0 \n"
" bx lr \n" " bx lr \n"
::: "memory" ::: "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" .extern SecureContext_SaveContext \n" " .extern SecureContext_SaveContext \n"
" .extern SecureContext_LoadContext \n" " .extern SecureContext_LoadContext \n"
" \n" " \n"
" mrs r1, psp \n" /* Read PSP in r1. */ " mrs r1, psp \n"/* Read PSP in r1. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " 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. */ " ldr r0, [r2] \n"/* Read xSecureContext - Value of xSecureContext must be in r0 as it is used as a parameter later. */
" \n" " \n"
" cbz r0, save_ns_context \n" /* No secure context to save. */ " cbz r0, save_ns_context \n"/* No secure context to save. */
" push {r0-r2, r14} \n" " push {r0-r2, r14} \n"
" bl SecureContext_SaveContext \n" " bl SecureContext_SaveContext \n"
" pop {r0-r3} \n" /* LR is now in r3. */ " pop {r0-r3} \n"/* LR is now in r3. */
" mov lr, r3 \n" /* LR = 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. */ " 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. */ " 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 r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r2, [r3] \n" /* Read pxCurrentTCB. */ " ldr r2, [r3] \n"/* Read pxCurrentTCB. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r1, r1, #16 \n" /* Make space for xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mrs r3, control \n" /* r3 = CONTROL. */ " mrs r3, control \n"/* r3 = CONTROL. */
" mov r4, lr \n" /* r4 = LR/EXC_RETURN. */ " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */
" stmia r1!, {r0, r2-r4} \n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r1, r1, #12 \n" /* Make space for xSecureContext, PSPLIM and LR on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " mov r3, lr \n"/* r3 = LR/EXC_RETURN. */
" stmia r1!, {r0, r2-r3} \n" /* Store xSecureContext, PSPLIM and LR on the stack. */ " stmia r1!, {r0, r2-r3} \n"/* Store xSecureContext, PSPLIM and LR on the stack. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" b select_next_task \n" " b select_next_task \n"
" \n" " \n"
" save_ns_context: \n" " save_ns_context: \n"
" ldr r3, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r3, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r2, [r3] \n" /* Read pxCurrentTCB. */ " ldr r2, [r3] \n"/* Read pxCurrentTCB. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" subs r1, r1, #48 \n" /* Make space for xSecureContext, PSPLIM, CONTROL, LR and the remaining registers on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" adds r1, r1, #16 \n" /* r1 = r1 + 16. */ " adds r1, r1, #16 \n"/* r1 = r1 + 16. */
" stmia r1!, {r4-r7} \n" /* Store the low registers that are not saved automatically. */ " stmia r1!, {r4-r7} \n"/* Store the low registers that are not saved automatically. */
" mov r4, r8 \n" /* r4 = r8. */ " mov r4, r8 \n"/* r4 = r8. */
" mov r5, r9 \n" /* r5 = r9. */ " mov r5, r9 \n"/* r5 = r9. */
" mov r6, r10 \n" /* r6 = r10. */ " mov r6, r10 \n"/* r6 = r10. */
" mov r7, r11 \n" /* r7 = r11. */ " mov r7, r11 \n"/* r7 = r11. */
" stmia r1!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mrs r3, control \n" /* r3 = CONTROL. */ " mrs r3, control \n"/* r3 = CONTROL. */
" mov r4, lr \n" /* r4 = LR/EXC_RETURN. */ " mov r4, lr \n"/* r4 = LR/EXC_RETURN. */
" subs r1, r1, #48 \n" /* r1 = r1 - 48. */ " subs r1, r1, #48 \n"/* r1 = r1 - 48. */
" stmia r1!, {r0, r2-r4} \n" /* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */ " stmia r1!, {r0, r2-r4} \n"/* Store xSecureContext, PSPLIM, CONTROL and LR on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" subs r1, r1, #44 \n" /* Make space for xSecureContext, PSPLIM, LR and the remaining registers on the stack. */ " 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. */ " str r1, [r2] \n"/* Save the new top of stack in TCB. */
" mrs r2, psplim \n" /* r2 = PSPLIM. */ " mrs r2, psplim \n"/* r2 = PSPLIM. */
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */ " 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. */ " 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 r4, r8 \n"/* r4 = r8. */
" mov r5, r9 \n" /* r5 = r9. */ " mov r5, r9 \n"/* r5 = r9. */
" mov r6, r10 \n" /* r6 = r10. */ " mov r6, r10 \n"/* r6 = r10. */
" mov r7, r11 \n" /* r7 = r11. */ " mov r7, r11 \n"/* r7 = r11. */
" stmia r1!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */ " stmia r1!, {r4-r7} \n"/* Store the high registers that are not saved automatically. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" select_next_task: \n" " select_next_task: \n"
" cpsid i \n" " cpsid i \n"
" bl vTaskSwitchContext \n" " bl vTaskSwitchContext \n"
" cpsie i \n" " cpsie i \n"
" \n" " \n"
" ldr r2, pxCurrentTCBConst \n" /* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */ " ldr r2, pxCurrentTCBConst \n"/* Read the location of pxCurrentTCB i.e. &( pxCurrentTCB ). */
" ldr r3, [r2] \n" /* Read 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. */ " ldr r1, [r3] \n"/* The first item in pxCurrentTCB is the task top of stack. r1 now points to the top of stack. */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" dmb \n" /* Complete outstanding transfers before disabling MPU. */ " dmb \n"/* Complete outstanding transfers before disabling MPU. */
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" bics r4, r5 \n" /* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */ " bics r4, r5 \n"/* r4 = r4 & ~r5 i.e. Clear the bit 0 in r4. */
" str r4, [r2] \n" /* Disable MPU. */ " str r4, [r2] \n"/* Disable MPU. */
" \n" " \n"
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to MAIR0 in TCB. */ " 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 r4, [r3] \n"/* r4 = *r3 i.e. r4 = MAIR0. */
" ldr r2, xMAIR0Const \n" /* r2 = 0xe000edc0 [Location of MAIR0]. */ " ldr r2, xMAIR0Const \n"/* r2 = 0xe000edc0 [Location of MAIR0]. */
" str r4, [r2] \n" /* Program MAIR0. */ " str r4, [r2] \n"/* Program MAIR0. */
" ldr r2, xRNRConst \n" /* r2 = 0xe000ed98 [Location of RNR]. */ " ldr r2, xRNRConst \n"/* r2 = 0xe000ed98 [Location of RNR]. */
" adds r3, #4 \n" /* r3 = r3 + 4. r3 now points to first RBAR in TCB. */ " adds r3, #4 \n"/* r3 = r3 + 4. r3 now points to first RBAR in TCB. */
" movs r5, #4 \n" /* r5 = 4. */ " movs r5, #4 \n"/* r5 = 4. */
" str r5, [r2] \n" /* Program RNR = 4. */ " str r5, [r2] \n"/* Program RNR = 4. */
" ldmia r3!, {r6,r7} \n" /* Read first set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read first set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write first set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write first set of RBAR/RLAR registers. */
" movs r5, #5 \n" /* r5 = 5. */ " movs r5, #5 \n"/* r5 = 5. */
" str r5, [r2] \n" /* Program RNR = 5. */ " str r5, [r2] \n"/* Program RNR = 5. */
" ldmia r3!, {r6,r7} \n" /* Read second set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read second set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write second set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write second set of RBAR/RLAR registers. */
" movs r5, #6 \n" /* r5 = 6. */ " movs r5, #6 \n"/* r5 = 6. */
" str r5, [r2] \n" /* Program RNR = 6. */ " str r5, [r2] \n"/* Program RNR = 6. */
" ldmia r3!, {r6,r7} \n" /* Read third set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read third set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write third set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write third set of RBAR/RLAR registers. */
" movs r5, #7 \n" /* r5 = 7. */ " movs r5, #7 \n"/* r5 = 7. */
" str r5, [r2] \n" /* Program RNR = 7. */ " str r5, [r2] \n"/* Program RNR = 7. */
" ldmia r3!, {r6,r7} \n" /* Read fourth set of RBAR/RLAR from TCB. */ " ldmia r3!, {r6,r7} \n"/* Read fourth set of RBAR/RLAR from TCB. */
" ldr r4, xRBARConst \n" /* r4 = 0xe000ed9c [Location of RBAR]. */ " ldr r4, xRBARConst \n"/* r4 = 0xe000ed9c [Location of RBAR]. */
" stmia r4!, {r6,r7} \n" /* Write fourth set of RBAR/RLAR registers. */ " stmia r4!, {r6,r7} \n"/* Write fourth set of RBAR/RLAR registers. */
" \n" " \n"
" ldr r2, xMPUCTRLConst \n" /* r2 = 0xe000ed94 [Location of MPU_CTRL]. */ " ldr r2, xMPUCTRLConst \n"/* r2 = 0xe000ed94 [Location of MPU_CTRL]. */
" ldr r4, [r2] \n" /* Read the value of MPU_CTRL. */ " ldr r4, [r2] \n"/* Read the value of MPU_CTRL. */
" movs r5, #1 \n" /* r5 = 1. */ " movs r5, #1 \n"/* r5 = 1. */
" orrs r4, r5 \n" /* r4 = r4 | r5 i.e. Set the bit 0 in r4. */ " orrs r4, r5 \n"/* r4 = r4 | r5 i.e. Set the bit 0 in r4. */
" str r4, [r2] \n" /* Enable MPU. */ " str r4, [r2] \n"/* Enable MPU. */
" dsb \n" /* Force memory writes before continuing. */ " dsb \n"/* Force memory writes before continuing. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r1!, {r0, r2-r4} \n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM, r3 = CONTROL and r4 = LR. */ " 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 psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" msr control, r3 \n" /* Restore the CONTROL register value for the task. */ " msr control, r3 \n"/* Restore the CONTROL register value for the task. */
" mov lr, r4 \n" /* LR = r4. */ " mov lr, r4 \n"/* LR = r4. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */
" str r0, [r2] \n" /* Restore the task's 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. */ " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */
" push {r1,r4} \n" " push {r1,r4} \n"
" bl SecureContext_LoadContext \n" /* Restore the secure context. */ " bl SecureContext_LoadContext \n"/* Restore the secure context. */
" pop {r1,r4} \n" " pop {r1,r4} \n"
" mov lr, r4 \n" /* LR = r4. */ " 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. */ " 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. */ " 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. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" ldmia r1!, {r0, r2-r3} \n" /* Read from stack - r0 = xSecureContext, r2 = PSPLIM and r3 = LR. */ " 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. */ " msr psplim, r2 \n"/* Restore the PSPLIM register value for the task. */
" mov lr, r3 \n" /* LR = r3. */ " mov lr, r3 \n"/* LR = r3. */
" ldr r2, xSecureContextConst \n" /* Read the location of xSecureContext i.e. &( xSecureContext ). */ " ldr r2, xSecureContextConst \n"/* Read the location of xSecureContext i.e. &( xSecureContext ). */
" str r0, [r2] \n" /* Restore the task's 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. */ " cbz r0, restore_ns_context \n"/* If there is no secure context for the task, restore the non-secure context. */
" push {r1,r3} \n" " push {r1,r3} \n"
" bl SecureContext_LoadContext \n" /* Restore the secure context. */ " bl SecureContext_LoadContext \n"/* Restore the secure context. */
" pop {r1,r3} \n" " pop {r1,r3} \n"
" mov lr, r3 \n" /* LR = 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. */ " 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. */ " 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. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" bx lr \n" " bx lr \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" \n" " \n"
" restore_ns_context: \n" " restore_ns_context: \n"
" adds r1, r1, #16 \n" /* Move to the high registers. */ " adds r1, r1, #16 \n"/* Move to the high registers. */
" ldmia r1!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */ " ldmia r1!, {r4-r7} \n"/* Restore the high registers that are not automatically restored. */
" mov r8, r4 \n" /* r8 = r4. */ " mov r8, r4 \n"/* r8 = r4. */
" mov r9, r5 \n" /* r9 = r5. */ " mov r9, r5 \n"/* r9 = r5. */
" mov r10, r6 \n" /* r10 = r6. */ " mov r10, r6 \n"/* r10 = r6. */
" mov r11, r7 \n" /* r11 = r7. */ " mov r11, r7 \n"/* r11 = r7. */
" msr psp, r1 \n" /* Remember the new top of stack for the task. */ " msr psp, r1 \n"/* Remember the new top of stack for the task. */
" subs r1, r1, #32 \n" /* Go back to the low registers. */ " 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. */ " ldmia r1!, {r4-r7} \n"/* Restore the low registers that are not automatically restored. */
" bx lr \n" " bx lr \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"pxCurrentTCBConst: .word pxCurrentTCB \n" "pxCurrentTCBConst: .word pxCurrentTCB \n"
"xSecureContextConst: .word xSecureContext \n" "xSecureContextConst: .word xSecureContext \n"
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
"xMPUCTRLConst: .word 0xe000ed94 \n" "xMPUCTRLConst: .word 0xe000ed94 \n"
"xMAIR0Const: .word 0xe000edc0 \n" "xMAIR0Const: .word 0xe000edc0 \n"
"xRNRConst: .word 0xe000ed98 \n" "xRNRConst: .word 0xe000ed98 \n"
"xRBARConst: .word 0xe000ed9c \n" "xRBARConst: .word 0xe000ed9c \n"
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" movs r0, #4 \n" " movs r0, #4 \n"
" mov r1, lr \n" " mov r1, lr \n"
" tst r0, r1 \n" " tst r0, r1 \n"
" beq stacking_used_msp \n" " beq stacking_used_msp \n"
" mrs r0, psp \n" " mrs r0, psp \n"
" ldr r2, svchandler_address_const \n" " ldr r2, svchandler_address_const \n"
" bx r2 \n" " bx r2 \n"
" stacking_used_msp: \n" " stacking_used_msp: \n"
" mrs r0, msp \n" " mrs r0, msp \n"
" ldr r2, svchandler_address_const \n" " ldr r2, svchandler_address_const \n"
" bx r2 \n" " bx r2 \n"
" \n" " \n"
" .align 4 \n" " .align 4 \n"
"svchandler_address_const: .word vPortSVCHandler_C \n" "svchandler_address_const: .word vPortSVCHandler_C \n"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */ void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) /* __attribute__ (( naked )) */
{ {
__asm volatile __asm volatile
( (
" svc %0 \n" /* Secure context is allocated in the supervisor call. */ " svc %0 \n"/* Secure context is allocated in the supervisor call. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory" ::"i" ( portSVC_ALLOCATE_SECURE_CONTEXT ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
{ {
__asm volatile __asm volatile
( (
" ldr r1, [r0] \n" /* The first item in the TCB is the top of the stack. */ " 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. */ " 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. */ " cmp r0, #0 \n"/* Raise svc if task's xSecureContext is not NULL. */
" beq free_secure_context \n" " beq free_secure_context \n"
" bx lr \n" /* There is no secure context (xSecureContext is NULL). */ " bx lr \n"/* There is no secure context (xSecureContext is NULL). */
" free_secure_context: \n" " free_secure_context: \n"
" svc %0 \n" /* Secure context is freed in the supervisor call. */ " svc %0 \n"/* Secure context is freed in the supervisor call. */
" bx lr \n" /* Return. */ " bx lr \n"/* Return. */
:: "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory" ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

22
portable/GCC/ARM_CM23/non_secure/portasm.h
View file

@ -37,14 +37,14 @@
* @brief Restore the context of the first task so that the first task starts * @brief Restore the context of the first task so that the first task starts
* executing. * executing.
*/ */
void vRestoreContextOfFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Checks whether or not the processor is privileged. * @brief Checks whether or not the processor is privileged.
* *
* @return 1 if the processor is already privileged, 0 otherwise. * @return 1 if the processor is already privileged, 0 otherwise.
*/ */
BaseType_t xIsPrivileged( void ) __attribute__ (( naked )); BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) );
/** /**
* @brief Raises the privilege level by clearing the bit 0 of the CONTROL * @brief Raises the privilege level by clearing the bit 0 of the CONTROL
@ -57,7 +57,7 @@ BaseType_t xIsPrivileged( void ) __attribute__ (( naked ));
* Bit[0] = 0 --> The processor is running privileged * Bit[0] = 0 --> The processor is running privileged
* Bit[0] = 1 --> The processor is running unprivileged. * Bit[0] = 1 --> The processor is running unprivileged.
*/ */
void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Lowers the privilege level by setting the bit 0 of the CONTROL * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
@ -67,32 +67,32 @@ void vRaisePrivilege( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
* Bit[0] = 0 --> The processor is running privileged * Bit[0] = 0 --> The processor is running privileged
* Bit[0] = 1 --> The processor is running unprivileged. * Bit[0] = 1 --> The processor is running unprivileged.
*/ */
void vResetPrivilege( void ) __attribute__ (( naked )); void vResetPrivilege( void ) __attribute__( ( naked ) );
/** /**
* @brief Starts the first task. * @brief Starts the first task.
*/ */
void vStartFirstTask( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Disables interrupts. * @brief Disables interrupts.
*/ */
uint32_t ulSetInterruptMask( void ) __attribute__(( naked )) PRIVILEGED_FUNCTION; uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Enables interrupts. * @brief Enables interrupts.
*/ */
void vClearInterruptMask( uint32_t ulMask ) __attribute__(( naked )) PRIVILEGED_FUNCTION; void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief PendSV Exception handler. * @brief PendSV Exception handler.
*/ */
void PendSV_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief SVC Handler. * @brief SVC Handler.
*/ */
void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
/** /**
* @brief Allocate a Secure context for the calling task. * @brief Allocate a Secure context for the calling task.
@ -100,13 +100,13 @@ void SVC_Handler( void ) __attribute__ (( naked )) PRIVILEGED_FUNCTION;
* @param[in] ulSecureStackSize The size of the stack to be allocated on the * @param[in] ulSecureStackSize The size of the stack to be allocated on the
* secure side for the calling task. * secure side for the calling task.
*/ */
void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__ (( naked )); void vPortAllocateSecureContext( uint32_t ulSecureStackSize ) __attribute__( ( naked ) );
/** /**
* @brief Free the task's secure context. * @brief Free the task's secure context.
* *
* @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task. * @param[in] pulTCB Pointer to the Task Control Block (TCB) of the task.
*/ */
void vPortFreeSecureContext( uint32_t *pulTCB ) __attribute__ (( naked )) PRIVILEGED_FUNCTION; void vPortFreeSecureContext( uint32_t * pulTCB ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
#endif /* __PORT_ASM_H__ */ #endif /* __PORT_ASM_H__ */

340
portable/GCC/ARM_CM23/non_secure/portmacro.h
View file

@ -25,11 +25,11 @@
*/ */
#ifndef PORTMACRO_H #ifndef PORTMACRO_H
#define PORTMACRO_H #define PORTMACRO_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*------------------------------------------------------------------------------ /*------------------------------------------------------------------------------
* Port specific definitions. * Port specific definitions.
@ -41,109 +41,109 @@ extern "C" {
*------------------------------------------------------------------------------ *------------------------------------------------------------------------------
*/ */
#ifndef configENABLE_FPU #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. #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 */ #endif /* configENABLE_FPU */
#ifndef configENABLE_MPU #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. #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 */ #endif /* configENABLE_MPU */
#ifndef configENABLE_TRUSTZONE #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. #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 */ #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Type definitions. * @brief Type definitions.
*/ */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 ) #if ( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ * not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* Architecture specifics. * Architecture specifics.
*/ */
#define portARCH_NAME "Cortex-M23" #define portARCH_NAME "Cortex-M23"
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
#define portNOP() #define portNOP()
#define portINLINE __inline #define portINLINE __inline
#ifndef portFORCE_INLINE #ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline )) #define portFORCE_INLINE inline __attribute__( ( always_inline ) )
#endif #endif
#define portHAS_STACK_OVERFLOW_CHECKING 1 #define portHAS_STACK_OVERFLOW_CHECKING 1
#define portDONT_DISCARD __attribute__(( used )) #define portDONT_DISCARD __attribute__( ( used ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Extern declarations. * @brief Extern declarations.
*/ */
extern BaseType_t xPortIsInsideInterrupt( void ); extern BaseType_t xPortIsInsideInterrupt( void );
extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */; extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */; extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;
extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */; extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
#if( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */ extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
extern void vPortFreeSecureContext( uint32_t *pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */; extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */; extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */; extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief MPU specific constants. * @brief MPU specific constants.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
#define portUSING_MPU_WRAPPERS 1 #define portUSING_MPU_WRAPPERS 1
#define portPRIVILEGE_BIT ( 0x80000000UL ) #define portPRIVILEGE_BIT ( 0x80000000UL )
#else #else
#define portPRIVILEGE_BIT ( 0x0UL ) #define portPRIVILEGE_BIT ( 0x0UL )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* MPU regions. */ /* MPU regions. */
#define portPRIVILEGED_FLASH_REGION ( 0UL ) #define portPRIVILEGED_FLASH_REGION ( 0UL )
#define portUNPRIVILEGED_FLASH_REGION ( 1UL ) #define portUNPRIVILEGED_FLASH_REGION ( 1UL )
#define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL ) #define portUNPRIVILEGED_SYSCALLS_REGION ( 2UL )
#define portPRIVILEGED_RAM_REGION ( 3UL ) #define portPRIVILEGED_RAM_REGION ( 3UL )
#define portSTACK_REGION ( 4UL ) #define portSTACK_REGION ( 4UL )
#define portFIRST_CONFIGURABLE_REGION ( 5UL ) #define portFIRST_CONFIGURABLE_REGION ( 5UL )
#define portLAST_CONFIGURABLE_REGION ( 7UL ) #define portLAST_CONFIGURABLE_REGION ( 7UL )
#define portNUM_CONFIGURABLE_REGIONS ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 ) #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 portTOTAL_NUM_REGIONS ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus one to make space for the stack region. */
/* Device memory attributes used in MPU_MAIR registers. /* Device memory attributes used in MPU_MAIR registers.
* *
@ -155,155 +155,157 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
* 11 --> Device-GRE * 11 --> Device-GRE
* Bit[1:0] - 00, Reserved. * Bit[1:0] - 00, Reserved.
*/ */
#define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */ #define portMPU_DEVICE_MEMORY_nGnRnE ( 0x00 ) /* 0000 0000 */
#define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */ #define portMPU_DEVICE_MEMORY_nGnRE ( 0x04 ) /* 0000 0100 */
#define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */ #define portMPU_DEVICE_MEMORY_nGRE ( 0x08 ) /* 0000 1000 */
#define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */ #define portMPU_DEVICE_MEMORY_GRE ( 0x0C ) /* 0000 1100 */
/* Normal memory attributes used in MPU_MAIR registers. */ /* Normal memory attributes used in MPU_MAIR registers. */
#define portMPU_NORMAL_MEMORY_NON_CACHEABLE ( 0x44 ) /* Non-cacheable. */ #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. */ #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE ( 0xFF ) /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */
/* Attributes used in MPU_RBAR registers. */ /* Attributes used in MPU_RBAR registers. */
#define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL ) #define portMPU_REGION_NON_SHAREABLE ( 0UL << 3UL )
#define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL ) #define portMPU_REGION_INNER_SHAREABLE ( 1UL << 3UL )
#define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL ) #define portMPU_REGION_OUTER_SHAREABLE ( 2UL << 3UL )
#define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_WRITE ( 0UL << 1UL )
#define portMPU_REGION_READ_WRITE ( 1UL << 1UL ) #define portMPU_REGION_READ_WRITE ( 1UL << 1UL )
#define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL ) #define portMPU_REGION_PRIVILEGED_READ_ONLY ( 2UL << 1UL )
#define portMPU_REGION_READ_ONLY ( 3UL << 1UL ) #define portMPU_REGION_READ_ONLY ( 3UL << 1UL )
#define portMPU_REGION_EXECUTE_NEVER ( 1UL ) #define portMPU_REGION_EXECUTE_NEVER ( 1UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Settings to define an MPU region. * @brief Settings to define an MPU region.
*/ */
typedef struct MPURegionSettings typedef struct MPURegionSettings
{ {
uint32_t ulRBAR; /**< RBAR for the region. */ uint32_t ulRBAR; /**< RBAR for the region. */
uint32_t ulRLAR; /**< RLAR for the region. */ uint32_t ulRLAR; /**< RLAR for the region. */
} MPURegionSettings_t; } MPURegionSettings_t;
/** /**
* @brief MPU settings as stored in the TCB. * @brief MPU settings as stored in the TCB.
*/ */
typedef struct MPU_SETTINGS typedef struct MPU_SETTINGS
{ {
uint32_t ulMAIR0; /**< MAIR0 for the task containing attributes for all the 4 per task regions. */ 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. */ MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
} xMPU_SETTINGS; } xMPU_SETTINGS;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief SVC numbers. * @brief SVC numbers.
*/ */
#define portSVC_ALLOCATE_SECURE_CONTEXT 0 #define portSVC_ALLOCATE_SECURE_CONTEXT 0
#define portSVC_FREE_SECURE_CONTEXT 1 #define portSVC_FREE_SECURE_CONTEXT 1
#define portSVC_START_SCHEDULER 2 #define portSVC_START_SCHEDULER 2
#define portSVC_RAISE_PRIVILEGE 3 #define portSVC_RAISE_PRIVILEGE 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Scheduler utilities. * @brief Scheduler utilities.
*/ */
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) ) #define portNVIC_INT_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL ) #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Critical section management. * @brief Critical section management.
*/ */
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMask( x ) #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) vClearInterruptMask( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" ) #define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " ::: "memory" )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" ) #define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " ::: "memory" )
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Tickless idle/low power functionality. * @brief Tickless idle/low power functionality.
*/ */
#ifndef portSUPPRESS_TICKS_AND_SLEEP #ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ); extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime ) #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
* @brief Task function macros as described on the FreeRTOS.org WEB site. * @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_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_TRUSTZONE == 1 ) #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, * @brief Allocate a secure context for the task.
* if it has one. *
* * Tasks are not created with a secure context. Any task that is going to call
* @param[in] pxTCB The TCB of the task being deleted. * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
*/ * secure context before it calls any secure function.
#define portCLEAN_UP_TCB( pxTCB ) vPortFreeSecureContext( ( uint32_t * ) pxTCB ) *
#else * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
#define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) */
#define portCLEAN_UP_TCB( pxTCB ) #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) vPortAllocateSecureContext( ulSecureStackSize )
#endif /* configENABLE_TRUSTZONE */
/**
* @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 ) #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. * @brief Checks whether or not the processor is privileged.
* *
* The SVC handler checks that the SVC was raised from a system call and only * @return 1 if the processor is already privileged, 0 otherwise.
* then it raises the privilege. If this is called from any other place, */
* the privilege is not raised. #define portIS_PRIVILEGED() xIsPrivileged()
*/
#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 * @brief Raise an SVC request to raise privilege.
* register. *
*/ * The SVC handler checks that the SVC was raised from a system call and only
#define portRESET_PRIVILEGE() vResetPrivilege() * then it raises the privilege. If this is called from any other place,
#else * the privilege is not raised.
#define portIS_PRIVILEGED() */
#define portRAISE_PRIVILEGE() #define portRAISE_PRIVILEGE() __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
#define portRESET_PRIVILEGE()
#endif /* configENABLE_MPU */ /**
* @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. * @brief Barriers.
*/ */
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" ) #define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

224
portable/GCC/ARM_CM23/secure/secure_context.c
View file

@ -39,7 +39,7 @@
* Bit[0] - 0 --> Thread mode is privileged. * Bit[0] - 0 --> Thread mode is privileged.
* Bit[1] - 1 --> Thread mode uses PSP. * Bit[1] - 1 --> Thread mode uses PSP.
*/ */
#define securecontextCONTROL_VALUE_PRIVILEGED 0x02 #define securecontextCONTROL_VALUE_PRIVILEGED 0x02
/** /**
* @brief CONTROL value for un-privileged tasks. * @brief CONTROL value for un-privileged tasks.
@ -47,7 +47,7 @@
* Bit[0] - 1 --> Thread mode is un-privileged. * Bit[0] - 1 --> Thread mode is un-privileged.
* Bit[1] - 1 --> Thread mode uses PSP. * Bit[1] - 1 --> Thread mode uses PSP.
*/ */
#define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03 #define securecontextCONTROL_VALUE_UNPRIVILEGED 0x03
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -58,146 +58,148 @@
*/ */
typedef struct SecureContext typedef struct SecureContext
{ {
uint8_t *pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */ uint8_t * pucCurrentStackPointer; /**< Current value of stack pointer (PSP). */
uint8_t *pucStackLimit; /**< Last location of the stack memory (PSPLIM). */ uint8_t * pucStackLimit; /**< Last location of the stack memory (PSPLIM). */
uint8_t *pucStackStart; /**< First location of the stack memory. */ uint8_t * pucStackStart; /**< First location of the stack memory. */
} SecureContext_t; } SecureContext_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_Init( void ) secureportNON_SECURE_CALLABLE void SecureContext_Init( void )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
/* No stack for thread mode until a task's context is loaded. */ /* No stack for thread mode until a task's context is loaded. */
secureportSET_PSPLIM( securecontextNO_STACK ); secureportSET_PSPLIM( securecontextNO_STACK );
secureportSET_PSP( securecontextNO_STACK ); secureportSET_PSP( securecontextNO_STACK );
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Configure thread mode to use PSP and to be unprivileged. */ /* Configure thread mode to use PSP and to be unprivileged. */
secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED ); secureportSET_CONTROL( securecontextCONTROL_VALUE_UNPRIVILEGED );
} }
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
{ {
/* Configure thread mode to use PSP and to be privileged.. */ /* Configure thread mode to use PSP and to be privileged.. */
secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED ); secureportSET_CONTROL( securecontextCONTROL_VALUE_PRIVILEGED );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged ) secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize,
uint32_t ulIsTaskPrivileged )
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ) secureportNON_SECURE_CALLABLE SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize )
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
{ {
uint8_t *pucStackMemory = NULL; uint8_t * pucStackMemory = NULL;
uint32_t ulIPSR; uint32_t ulIPSR;
SecureContextHandle_t xSecureContextHandle = NULL; SecureContextHandle_t xSecureContextHandle = NULL;
#if( configENABLE_MPU == 1 )
uint32_t *pulCurrentStackPointer = NULL;
#endif /* configENABLE_MPU */
/* Read the Interrupt Program Status Register (IPSR) value. */ #if ( configENABLE_MPU == 1 )
secureportREAD_IPSR( ulIPSR ); uint32_t * pulCurrentStackPointer = NULL;
#endif /* configENABLE_MPU */
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Read the Interrupt Program Status Register (IPSR) value. */
* when the processor is running in the Thread Mode. */ secureportREAD_IPSR( ulIPSR );
if( ulIPSR != 0 )
{
/* Allocate the context structure. */
xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) );
if( xSecureContextHandle != NULL ) /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
{ * when the processor is running in the Thread Mode. */
/* Allocate the stack space. */ if( ulIPSR != 0 )
pucStackMemory = pvPortMalloc( ulSecureStackSize ); {
/* Allocate the context structure. */
xSecureContextHandle = ( SecureContextHandle_t ) pvPortMalloc( sizeof( SecureContext_t ) );
if( pucStackMemory != NULL ) if( xSecureContextHandle != NULL )
{ {
/* Since stack grows down, the starting point will be the last /* Allocate the stack space. */
* location. Note that this location is next to the last pucStackMemory = pvPortMalloc( ulSecureStackSize );
* 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 if( pucStackMemory != NULL )
* programmed in the PSPLIM register on context switch.*/ {
xSecureContextHandle->pucStackLimit = pucStackMemory; /* 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;
#if( configENABLE_MPU == 1 ) /* The stack cannot go beyond this location. This value is
{ * programmed in the PSPLIM register on context switch.*/
/* Store the correct CONTROL value for the task on the stack. xSecureContextHandle->pucStackLimit = pucStackMemory;
* 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 #if ( configENABLE_MPU == 1 )
* the PSP register on context switch. */ {
xSecureContextHandle->pucCurrentStackPointer = ( uint8_t * ) pulCurrentStackPointer; /* Store the correct CONTROL value for the task on the stack.
} * This value is programmed in the CONTROL register on
#else /* configENABLE_MPU */ * context switch. */
{ pulCurrentStackPointer = ( uint32_t * ) xSecureContextHandle->pucStackStart;
/* Current SP is set to the starting of the stack. This pulCurrentStackPointer--;
* value programmed in the PSP register on context switch. */
xSecureContextHandle->pucCurrentStackPointer = xSecureContextHandle->pucStackStart;
} if( ulIsTaskPrivileged )
#endif /* configENABLE_MPU */ {
} *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_PRIVILEGED;
else }
{ else
/* Free the context to avoid memory leak and make sure to return {
* NULL to indicate failure. */ *( pulCurrentStackPointer ) = securecontextCONTROL_VALUE_UNPRIVILEGED;
vPortFree( xSecureContextHandle ); }
xSecureContextHandle = NULL;
}
}
}
return xSecureContextHandle; /* 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 ) secureportNON_SECURE_CALLABLE void SecureContext_FreeContext( SecureContextHandle_t xSecureContextHandle )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
/* Ensure that valid parameters are passed. */ /* Ensure that valid parameters are passed. */
secureportASSERT( xSecureContextHandle != NULL ); secureportASSERT( xSecureContextHandle != NULL );
/* Free the stack space. */ /* Free the stack space. */
vPortFree( xSecureContextHandle->pucStackLimit ); vPortFree( xSecureContextHandle->pucStackLimit );
/* Free the context itself. */ /* Free the context itself. */
vPortFree( xSecureContextHandle ); vPortFree( xSecureContextHandle );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

11
portable/GCC/ARM_CM23/secure/secure_context.h
View file

@ -36,13 +36,13 @@
/** /**
* @brief PSP value when no task's context is loaded. * @brief PSP value when no task's context is loaded.
*/ */
#define securecontextNO_STACK 0x0 #define securecontextNO_STACK 0x0
/** /**
* @brief Opaque handle. * @brief Opaque handle.
*/ */
struct SecureContext; struct SecureContext;
typedef struct SecureContext* SecureContextHandle_t; typedef struct SecureContext * SecureContextHandle_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -68,10 +68,11 @@ void SecureContext_Init( void );
* @return Opaque context handle if context is successfully allocated, NULL * @return Opaque context handle if context is successfully allocated, NULL
* otherwise. * otherwise.
*/ */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize, uint32_t ulIsTaskPrivileged ); SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize,
uint32_t ulIsTaskPrivileged );
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize ); SecureContextHandle_t SecureContext_AllocateContext( uint32_t ulSecureStackSize );
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/** /**

94
portable/GCC/ARM_CM23/secure/secure_context_port.c
View file

@ -30,61 +30,61 @@
/* Secure port macros. */ /* Secure port macros. */
#include "secure_port_macros.h" #include "secure_port_macros.h"
#if( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
#error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0. #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
#endif #endif
secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_LoadContext( SecureContextHandle_t xSecureContextHandle )
{ {
/* xSecureContextHandle value is in r0. */ /* xSecureContextHandle value is in r0. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r1, ipsr \n" /* r1 = IPSR. */ " mrs r1, ipsr \n"/* r1 = IPSR. */
" cbz r1, load_ctx_therad_mode \n" /* Do nothing if the processor is running in the Thread Mode. */ " 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. */ " ldmia r0!, {r1, r2} \n"/* r1 = xSecureContextHandle->pucCurrentStackPointer, r2 = xSecureContextHandle->pucStackLimit. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" ldmia r1!, {r3} \n" /* Read CONTROL register value from task's stack. r3 = CONTROL. */ " ldmia r1!, {r3} \n"/* Read CONTROL register value from task's stack. r3 = CONTROL. */
" msr control, r3 \n" /* CONTROL = r3. */ " msr control, r3 \n"/* CONTROL = r3. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" msr psplim, r2 \n" /* PSPLIM = r2. */ " msr psplim, r2 \n"/* PSPLIM = r2. */
" msr psp, r1 \n" /* PSP = r1. */ " msr psp, r1 \n"/* PSP = r1. */
" \n" " \n"
" load_ctx_therad_mode: \n" " load_ctx_therad_mode: \n"
" nop \n" " nop \n"
" \n" " \n"
:::"r0", "r1", "r2" ::: "r0", "r1", "r2"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle ) secureportNON_SECURE_CALLABLE void SecureContext_SaveContext( SecureContextHandle_t xSecureContextHandle )
{ {
/* xSecureContextHandle value is in r0. */ /* xSecureContextHandle value is in r0. */
__asm volatile __asm volatile
( (
" .syntax unified \n" " .syntax unified \n"
" \n" " \n"
" mrs r1, ipsr \n" /* r1 = IPSR. */ " mrs r1, ipsr \n"/* r1 = IPSR. */
" cbz r1, save_ctx_therad_mode \n" /* Do nothing if the processor is running in the Thread Mode. */ " cbz r1, save_ctx_therad_mode \n"/* Do nothing if the processor is running in the Thread Mode. */
" mrs r1, psp \n" /* r1 = PSP. */ " mrs r1, psp \n"/* r1 = PSP. */
#if( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
" mrs r2, control \n" /* r2 = CONTROL. */ " mrs r2, control \n"/* r2 = CONTROL. */
" subs r1, r1, #4 \n" /* Make space for the CONTROL value on the stack. */ " 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. */ " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
" stmia r1!, {r2} \n" /* Store CONTROL value on the stack. */ " stmia r1!, {r2} \n"/* Store CONTROL value on the stack. */
#else /* configENABLE_MPU */ #else /* configENABLE_MPU */
" str r1, [r0] \n" /* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */ " str r1, [r0] \n"/* Save the top of stack in context. xSecureContextHandle->pucCurrentStackPointer = r1. */
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
" movs r1, %0 \n" /* r1 = securecontextNO_STACK. */ " movs r1, %0 \n"/* r1 = securecontextNO_STACK. */
" msr psplim, r1 \n" /* PSPLIM = 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. */ " msr psp, r1 \n"/* PSP = securecontextNO_STACK i.e. No stack for thread mode until next task's context is loaded. */
" \n" " \n"
" save_ctx_therad_mode: \n" " save_ctx_therad_mode: \n"
" nop \n" " nop \n"
" \n" " \n"
:: "i" ( securecontextNO_STACK ) : "r1", "memory" ::"i" ( securecontextNO_STACK ) : "r1", "memory"
); );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

552
portable/GCC/ARM_CM23/secure/secure_heap.c
View file

@ -36,37 +36,38 @@
/** /**
* @brief Total heap size. * @brief Total heap size.
*/ */
#define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) ) #define secureconfigTOTAL_HEAP_SIZE ( ( ( size_t ) ( 10 * 1024 ) ) )
/* No test marker by default. */ /* No test marker by default. */
#ifndef mtCOVERAGE_TEST_MARKER #ifndef mtCOVERAGE_TEST_MARKER
#define mtCOVERAGE_TEST_MARKER() #define mtCOVERAGE_TEST_MARKER()
#endif #endif
/* No tracing by default. */ /* No tracing by default. */
#ifndef traceMALLOC #ifndef traceMALLOC
#define traceMALLOC( pvReturn, xWantedSize ) #define traceMALLOC( pvReturn, xWantedSize )
#endif #endif
/* No tracing by default. */ /* No tracing by default. */
#ifndef traceFREE #ifndef traceFREE
#define traceFREE( pv, xBlockSize ) #define traceFREE( pv, xBlockSize )
#endif #endif
/* Block sizes must not get too small. */ /* Block sizes must not get too small. */
#define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) #define secureheapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) )
/* Assumes 8bit bytes! */ /* Assumes 8bit bytes! */
#define secureheapBITS_PER_BYTE ( ( size_t ) 8 ) #define secureheapBITS_PER_BYTE ( ( size_t ) 8 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Allocate the memory for the heap. */ /* Allocate the memory for the heap. */
#if( configAPPLICATION_ALLOCATED_HEAP == 1 ) #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. */ /* The application writer has already defined the array used for the RTOS
extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; * heap - probably so it can be placed in a special segment or address. */
extern uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
#else /* configAPPLICATION_ALLOCATED_HEAP */ #else /* configAPPLICATION_ALLOCATED_HEAP */
static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ]; static uint8_t ucHeap[ secureconfigTOTAL_HEAP_SIZE ];
#endif /* configAPPLICATION_ALLOCATED_HEAP */ #endif /* configAPPLICATION_ALLOCATED_HEAP */
/** /**
@ -76,8 +77,8 @@
*/ */
typedef struct A_BLOCK_LINK typedef struct A_BLOCK_LINK
{ {
struct A_BLOCK_LINK *pxNextFreeBlock; /**< The next free block in the list. */ struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */
size_t xBlockSize; /**< The size of the free block. */ size_t xBlockSize; /**< The size of the free block. */
} BlockLink_t; } BlockLink_t;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -96,7 +97,7 @@ static void prvHeapInit( void );
* *
* @param[in] pxBlockToInsert The block being freed. * @param[in] pxBlockToInsert The block being freed.
*/ */
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ); static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -108,13 +109,13 @@ static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( s
/** /**
* @brief Create a couple of list links to mark the start and end of the list. * @brief Create a couple of list links to mark the start and end of the list.
*/ */
static BlockLink_t xStart, *pxEnd = NULL; static BlockLink_t xStart, * pxEnd = NULL;
/** /**
* @brief Keeps track of the number of free bytes remaining, but says nothing * @brief Keeps track of the number of free bytes remaining, but says nothing
* about fragmentation. * about fragmentation.
*/ */
static size_t xFreeBytesRemaining = 0U; static size_t xFreeBytesRemaining = 0U;
static size_t xMinimumEverFreeBytesRemaining = 0U; static size_t xMinimumEverFreeBytesRemaining = 0U;
/** /**
@ -124,326 +125,329 @@ static size_t xMinimumEverFreeBytesRemaining = 0U;
* then the block belongs to the application. When the bit is free the block is * then the block belongs to the application. When the bit is free the block is
* still part of the free heap space. * still part of the free heap space.
*/ */
static size_t xBlockAllocatedBit = 0; static size_t xBlockAllocatedBit = 0;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvHeapInit( void ) static void prvHeapInit( void )
{ {
BlockLink_t *pxFirstFreeBlock; BlockLink_t * pxFirstFreeBlock;
uint8_t *pucAlignedHeap; uint8_t * pucAlignedHeap;
size_t uxAddress; size_t uxAddress;
size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE; size_t xTotalHeapSize = secureconfigTOTAL_HEAP_SIZE;
/* Ensure the heap starts on a correctly aligned boundary. */ /* Ensure the heap starts on a correctly aligned boundary. */
uxAddress = ( size_t ) ucHeap; uxAddress = ( size_t ) ucHeap;
if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 ) if( ( uxAddress & secureportBYTE_ALIGNMENT_MASK ) != 0 )
{ {
uxAddress += ( secureportBYTE_ALIGNMENT - 1 ); uxAddress += ( secureportBYTE_ALIGNMENT - 1 );
uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
} }
pucAlignedHeap = ( uint8_t * ) uxAddress; pucAlignedHeap = ( uint8_t * ) uxAddress;
/* xStart is used to hold a pointer to the first item in the list of free /* 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. */ * blocks. The void cast is used to prevent compiler warnings. */
xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
xStart.xBlockSize = ( size_t ) 0; xStart.xBlockSize = ( size_t ) 0;
/* pxEnd is used to mark the end of the list of free blocks and is inserted /* pxEnd is used to mark the end of the list of free blocks and is inserted
* at the end of the heap space. */ * at the end of the heap space. */
uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
uxAddress -= xHeapStructSize; uxAddress -= xHeapStructSize;
uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK ); uxAddress &= ~( ( size_t ) secureportBYTE_ALIGNMENT_MASK );
pxEnd = ( void * ) uxAddress; pxEnd = ( void * ) uxAddress;
pxEnd->xBlockSize = 0; pxEnd->xBlockSize = 0;
pxEnd->pxNextFreeBlock = NULL; pxEnd->pxNextFreeBlock = NULL;
/* To start with there is a single free block that is sized to take up the /* 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. */ * entire heap space, minus the space taken by pxEnd. */
pxFirstFreeBlock = ( void * ) pucAlignedHeap; pxFirstFreeBlock = ( void * ) pucAlignedHeap;
pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock;
pxFirstFreeBlock->pxNextFreeBlock = pxEnd; pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
/* Only one block exists - and it covers the entire usable heap space. */ /* Only one block exists - and it covers the entire usable heap space. */
xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
/* Work out the position of the top bit in a size_t variable. */ /* Work out the position of the top bit in a size_t variable. */
xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 ); xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * secureheapBITS_PER_BYTE ) - 1 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ) static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert )
{ {
BlockLink_t *pxIterator; BlockLink_t * pxIterator;
uint8_t *puc; uint8_t * puc;
/* Iterate through the list until a block is found that has a higher address /* Iterate through the list until a block is found that has a higher address
* than the block being inserted. */ * than the block being inserted. */
for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
{ {
/* Nothing to do here, just iterate to the right position. */ /* Nothing to do here, just iterate to the right position. */
} }
/* Do the block being inserted, and the block it is being inserted after /* Do the block being inserted, and the block it is being inserted after
* make a contiguous block of memory? */ * make a contiguous block of memory? */
puc = ( uint8_t * ) pxIterator; 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 if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
* make a contiguous block of memory? */ {
puc = ( uint8_t * ) pxBlockToInsert; pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) pxBlockToInsert = pxIterator;
{ }
if( pxIterator->pxNextFreeBlock != pxEnd ) else
{ {
/* Form one big block from the two blocks. */ mtCOVERAGE_TEST_MARKER();
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 /* Do the block being inserted, and the block it is being inserted before
* before and the block after, then it's pxNextFreeBlock pointer will have * make a contiguous block of memory? */
* already been set, and should not be set here as that would make it point puc = ( uint8_t * ) pxBlockToInsert;
* to itself. */
if( pxIterator != pxBlockToInsert ) if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
{ {
pxIterator->pxNextFreeBlock = pxBlockToInsert; if( pxIterator->pxNextFreeBlock != pxEnd )
} {
else /* Form one big block from the two blocks. */
{ pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
mtCOVERAGE_TEST_MARKER(); 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 ) void * pvPortMalloc( size_t xWantedSize )
{ {
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; BlockLink_t * pxBlock, * pxPreviousBlock, * pxNewBlockLink;
void *pvReturn = NULL; void * pvReturn = NULL;
/* If this is the first call to malloc then the heap will require /* If this is the first call to malloc then the heap will require
* initialisation to setup the list of free blocks. */ * initialisation to setup the list of free blocks. */
if( pxEnd == NULL ) if( pxEnd == NULL )
{ {
prvHeapInit(); prvHeapInit();
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
/* Check the requested block size is not so large that the top bit is set. /* 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 * 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 * to determine who owns the block - the application or the kernel, so it
* must be free. */ * must be free. */
if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
{ {
/* The wanted size is increased so it can contain a BlockLink_t /* The wanted size is increased so it can contain a BlockLink_t
* structure in addition to the requested amount of bytes. */ * structure in addition to the requested amount of bytes. */
if( xWantedSize > 0 ) if( xWantedSize > 0 )
{ {
xWantedSize += xHeapStructSize; xWantedSize += xHeapStructSize;
/* Ensure that blocks are always aligned to the required number of /* Ensure that blocks are always aligned to the required number of
* bytes. */ * bytes. */
if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 ) if( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) != 0x00 )
{ {
/* Byte alignment required. */ /* Byte alignment required. */
xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) ); xWantedSize += ( secureportBYTE_ALIGNMENT - ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) );
secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 ); secureportASSERT( ( xWantedSize & secureportBYTE_ALIGNMENT_MASK ) == 0 );
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
{ {
/* Traverse the list from the start (lowest address) block until /* Traverse the list from the start (lowest address) block until
* one of adequate size is found. */ * one of adequate size is found. */
pxPreviousBlock = &xStart; pxPreviousBlock = &xStart;
pxBlock = xStart.pxNextFreeBlock; 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 while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
* not found. */ {
if( pxBlock != pxEnd ) pxPreviousBlock = pxBlock;
{ pxBlock = pxBlock->pxNextFreeBlock;
/* 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 /* If the end marker was reached then a block of adequate size was
* of the list of free blocks. */ * not found. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; 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 );
/* If the block is larger than required it can be split into /* This block is being returned for use so must be taken out
* two. */ * of the list of free blocks. */
if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE ) pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
{
/* 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 /* If the block is larger than required it can be split into
* block. */ * two. */
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; if( ( pxBlock->xBlockSize - xWantedSize ) > secureheapMINIMUM_BLOCK_SIZE )
pxBlock->xBlockSize = xWantedSize; {
/* 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 );
/* Insert the new block into the list of free blocks. */ /* Calculate the sizes of two blocks split from the single
prvInsertBlockIntoFreeList( pxNewBlockLink ); * block. */
} pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
else pxBlock->xBlockSize = xWantedSize;
{
mtCOVERAGE_TEST_MARKER();
}
xFreeBytesRemaining -= pxBlock->xBlockSize; /* Insert the new block into the list of free blocks. */
prvInsertBlockIntoFreeList( pxNewBlockLink );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) xFreeBytesRemaining -= pxBlock->xBlockSize;
{
xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The block is being returned - it is allocated and owned by if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
* the application and has no "next" block. */ {
pxBlock->xBlockSize |= xBlockAllocatedBit; xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
pxBlock->pxNextFreeBlock = NULL; }
} else
else {
{ mtCOVERAGE_TEST_MARKER();
mtCOVERAGE_TEST_MARKER(); }
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
traceMALLOC( pvReturn, xWantedSize ); /* 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();
}
#if( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) traceMALLOC( pvReturn, xWantedSize );
{
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif
secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 ); #if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 )
return pvReturn; {
if( pvReturn == NULL )
{
extern void vApplicationMallocFailedHook( void );
vApplicationMallocFailedHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* if ( secureconfigUSE_MALLOC_FAILED_HOOK == 1 ) */
secureportASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) secureportBYTE_ALIGNMENT_MASK ) == 0 );
return pvReturn;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortFree( void *pv ) void vPortFree( void * pv )
{ {
uint8_t *puc = ( uint8_t * ) pv; uint8_t * puc = ( uint8_t * ) pv;
BlockLink_t *pxLink; BlockLink_t * pxLink;
if( pv != NULL ) if( pv != NULL )
{ {
/* The memory being freed will have an BlockLink_t structure immediately /* The memory being freed will have an BlockLink_t structure immediately
* before it. */ * before it. */
puc -= xHeapStructSize; puc -= xHeapStructSize;
/* This casting is to keep the compiler from issuing warnings. */ /* This casting is to keep the compiler from issuing warnings. */
pxLink = ( void * ) puc; pxLink = ( void * ) puc;
/* Check the block is actually allocated. */ /* Check the block is actually allocated. */
secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); secureportASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
secureportASSERT( pxLink->pxNextFreeBlock == NULL ); secureportASSERT( pxLink->pxNextFreeBlock == NULL );
if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
{ {
if( pxLink->pxNextFreeBlock == NULL ) if( pxLink->pxNextFreeBlock == NULL )
{ {
/* The block is being returned to the heap - it is no longer /* The block is being returned to the heap - it is no longer
* allocated. */ * allocated. */
pxLink->xBlockSize &= ~xBlockAllocatedBit; pxLink->xBlockSize &= ~xBlockAllocatedBit;
secureportDISABLE_NON_SECURE_INTERRUPTS(); secureportDISABLE_NON_SECURE_INTERRUPTS();
{ {
/* Add this block to the list of free blocks. */ /* Add this block to the list of free blocks. */
xFreeBytesRemaining += pxLink->xBlockSize; xFreeBytesRemaining += pxLink->xBlockSize;
traceFREE( pv, pxLink->xBlockSize ); traceFREE( pv, pxLink->xBlockSize );
prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
} }
secureportENABLE_NON_SECURE_INTERRUPTS(); secureportENABLE_NON_SECURE_INTERRUPTS();
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
} }
else else
{ {
mtCOVERAGE_TEST_MARKER(); mtCOVERAGE_TEST_MARKER();
} }
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
size_t xPortGetFreeHeapSize( void ) size_t xPortGetFreeHeapSize( void )
{ {
return xFreeBytesRemaining; return xFreeBytesRemaining;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
size_t xPortGetMinimumEverFreeHeapSize( void ) size_t xPortGetMinimumEverFreeHeapSize( void )
{ {
return xMinimumEverFreeBytesRemaining; return xMinimumEverFreeBytesRemaining;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortInitialiseBlocks( void ) void vPortInitialiseBlocks( void )
{ {
/* This just exists to keep the linker quiet. */ /* This just exists to keep the linker quiet. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

4
portable/GCC/ARM_CM23/secure/secure_heap.h
View file

@ -38,13 +38,13 @@
* @return Pointer to the memory region if the allocation is successful, NULL * @return Pointer to the memory region if the allocation is successful, NULL
* otherwise. * otherwise.
*/ */
void *pvPortMalloc( size_t xWantedSize ); void * pvPortMalloc( size_t xWantedSize );
/** /**
* @brief Frees the previously allocated memory. * @brief Frees the previously allocated memory.
* *
* @param[in] pv Pointer to the memory to be freed. * @param[in] pv Pointer to the memory to be freed.
*/ */
void vPortFree( void *pv ); void vPortFree( void * pv );
#endif /* __SECURE_HEAP_H__ */ #endif /* __SECURE_HEAP_H__ */

88
portable/GCC/ARM_CM23/secure/secure_init.c
View file

@ -36,69 +36,69 @@
/** /**
* @brief Constants required to manipulate the SCB. * @brief Constants required to manipulate the SCB.
*/ */
#define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */ #define secureinitSCB_AIRCR ( ( volatile uint32_t * ) 0xe000ed0c ) /* Application Interrupt and Reset Control Register. */
#define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL ) #define secureinitSCB_AIRCR_VECTKEY_POS ( 16UL )
#define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS ) #define secureinitSCB_AIRCR_VECTKEY_MASK ( 0xFFFFUL << secureinitSCB_AIRCR_VECTKEY_POS )
#define secureinitSCB_AIRCR_PRIS_POS ( 14UL ) #define secureinitSCB_AIRCR_PRIS_POS ( 14UL )
#define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS ) #define secureinitSCB_AIRCR_PRIS_MASK ( 1UL << secureinitSCB_AIRCR_PRIS_POS )
/** /**
* @brief Constants required to manipulate the FPU. * @brief Constants required to manipulate the FPU.
*/ */
#define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */ #define secureinitFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating Point Context Control Register. */
#define secureinitFPCCR_LSPENS_POS ( 29UL ) #define secureinitFPCCR_LSPENS_POS ( 29UL )
#define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS ) #define secureinitFPCCR_LSPENS_MASK ( 1UL << secureinitFPCCR_LSPENS_POS )
#define secureinitFPCCR_TS_POS ( 26UL ) #define secureinitFPCCR_TS_POS ( 26UL )
#define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS ) #define secureinitFPCCR_TS_MASK ( 1UL << secureinitFPCCR_TS_POS )
#define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */ #define secureinitNSACR ( ( volatile uint32_t * ) 0xe000ed8c ) /* Non-secure Access Control Register. */
#define secureinitNSACR_CP10_POS ( 10UL ) #define secureinitNSACR_CP10_POS ( 10UL )
#define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS ) #define secureinitNSACR_CP10_MASK ( 1UL << secureinitNSACR_CP10_POS )
#define secureinitNSACR_CP11_POS ( 11UL ) #define secureinitNSACR_CP11_POS ( 11UL )
#define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS ) #define secureinitNSACR_CP11_MASK ( 1UL << secureinitNSACR_CP11_POS )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void ) secureportNON_SECURE_CALLABLE void SecureInit_DePrioritizeNSExceptions( void )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
*( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) | *( secureinitSCB_AIRCR ) = ( *( secureinitSCB_AIRCR ) & ~( secureinitSCB_AIRCR_VECTKEY_MASK | secureinitSCB_AIRCR_PRIS_MASK ) ) |
( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) | ( ( 0x05FAUL << secureinitSCB_AIRCR_VECTKEY_POS ) & secureinitSCB_AIRCR_VECTKEY_MASK ) |
( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK ); ( ( 0x1UL << secureinitSCB_AIRCR_PRIS_POS ) & secureinitSCB_AIRCR_PRIS_MASK );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void ) secureportNON_SECURE_CALLABLE void SecureInit_EnableNSFPUAccess( void )
{ {
uint32_t ulIPSR; uint32_t ulIPSR;
/* Read the Interrupt Program Status Register (IPSR) value. */ /* Read the Interrupt Program Status Register (IPSR) value. */
secureportREAD_IPSR( ulIPSR ); secureportREAD_IPSR( ulIPSR );
/* Do nothing if the processor is running in the Thread Mode. IPSR is zero /* Do nothing if the processor is running in the Thread Mode. IPSR is zero
* when the processor is running in the Thread Mode. */ * when the processor is running in the Thread Mode. */
if( ulIPSR != 0 ) if( ulIPSR != 0 )
{ {
/* CP10 = 1 ==> Non-secure access to the Floating Point Unit is /* CP10 = 1 ==> Non-secure access to the Floating Point Unit is
* permitted. CP11 should be programmed to the same value as CP10. */ * permitted. CP11 should be programmed to the same value as CP10. */
*( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK ); *( secureinitNSACR ) |= ( secureinitNSACR_CP10_MASK | secureinitNSACR_CP11_MASK );
/* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures /* LSPENS = 0 ==> LSPEN is writable fron non-secure state. This ensures
* that we can enable/disable lazy stacking in port.c file. */ * that we can enable/disable lazy stacking in port.c file. */
*( secureinitFPCCR ) &= ~ ( secureinitFPCCR_LSPENS_MASK ); *( secureinitFPCCR ) &= ~( secureinitFPCCR_LSPENS_MASK );
/* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP /* TS = 1 ==> Treat FP registers as secure i.e. callee saved FP
* registers (S16-S31) are also pushed to stack on exception entry and * registers (S16-S31) are also pushed to stack on exception entry and
* restored on exception return. */ * restored on exception return. */
*( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK ); *( secureinitFPCCR ) |= ( secureinitFPCCR_TS_MASK );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

48
portable/GCC/ARM_CM23/secure/secure_port_macros.h
View file

@ -30,103 +30,103 @@
/** /**
* @brief Byte alignment requirements. * @brief Byte alignment requirements.
*/ */
#define secureportBYTE_ALIGNMENT 8 #define secureportBYTE_ALIGNMENT 8
#define secureportBYTE_ALIGNMENT_MASK ( 0x0007 ) #define secureportBYTE_ALIGNMENT_MASK ( 0x0007 )
/** /**
* @brief Macro to declare a function as non-secure callable. * @brief Macro to declare a function as non-secure callable.
*/ */
#if defined( __IAR_SYSTEMS_ICC__ ) #if defined( __IAR_SYSTEMS_ICC__ )
#define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root #define secureportNON_SECURE_CALLABLE __cmse_nonsecure_entry __root
#else #else
#define secureportNON_SECURE_CALLABLE __attribute__((cmse_nonsecure_entry)) __attribute__((used)) #define secureportNON_SECURE_CALLABLE __attribute__( ( cmse_nonsecure_entry ) ) __attribute__( ( used ) )
#endif #endif
/** /**
* @brief Set the secure PRIMASK value. * @brief Set the secure PRIMASK value.
*/ */
#define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \ #define secureportSET_SECURE_PRIMASK( ulPrimaskValue ) \
__asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" ) __asm volatile ( "msr primask, %0" : : "r" ( ulPrimaskValue ) : "memory" )
/** /**
* @brief Set the non-secure PRIMASK value. * @brief Set the non-secure PRIMASK value.
*/ */
#define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \ #define secureportSET_NON_SECURE_PRIMASK( ulPrimaskValue ) \
__asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" ) __asm volatile ( "msr primask_ns, %0" : : "r" ( ulPrimaskValue ) : "memory" )
/** /**
* @brief Read the PSP value in the given variable. * @brief Read the PSP value in the given variable.
*/ */
#define secureportREAD_PSP( pucOutCurrentStackPointer ) \ #define secureportREAD_PSP( pucOutCurrentStackPointer ) \
__asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) ) __asm volatile ( "mrs %0, psp" : "=r" ( pucOutCurrentStackPointer ) )
/** /**
* @brief Set the PSP to the given value. * @brief Set the PSP to the given value.
*/ */
#define secureportSET_PSP( pucCurrentStackPointer ) \ #define secureportSET_PSP( pucCurrentStackPointer ) \
__asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) ) __asm volatile ( "msr psp, %0" : : "r" ( pucCurrentStackPointer ) )
/** /**
* @brief Set the PSPLIM to the given value. * @brief Set the PSPLIM to the given value.
*/ */
#define secureportSET_PSPLIM( pucStackLimit ) \ #define secureportSET_PSPLIM( pucStackLimit ) \
__asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) ) __asm volatile ( "msr psplim, %0" : : "r" ( pucStackLimit ) )
/** /**
* @brief Set the NonSecure MSP to the given value. * @brief Set the NonSecure MSP to the given value.
*/ */
#define secureportSET_MSP_NS( pucMainStackPointer ) \ #define secureportSET_MSP_NS( pucMainStackPointer ) \
__asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) ) __asm volatile ( "msr msp_ns, %0" : : "r" ( pucMainStackPointer ) )
/** /**
* @brief Set the CONTROL register to the given value. * @brief Set the CONTROL register to the given value.
*/ */
#define secureportSET_CONTROL( ulControl ) \ #define secureportSET_CONTROL( ulControl ) \
__asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" ) __asm volatile ( "msr control, %0" : : "r" ( ulControl ) : "memory" )
/** /**
* @brief Read the Interrupt Program Status Register (IPSR) value in the given * @brief Read the Interrupt Program Status Register (IPSR) value in the given
* variable. * variable.
*/ */
#define secureportREAD_IPSR( ulIPSR ) \ #define secureportREAD_IPSR( ulIPSR ) \
__asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) ) __asm volatile ( "mrs %0, ipsr" : "=r" ( ulIPSR ) )
/** /**
* @brief PRIMASK value to enable interrupts. * @brief PRIMASK value to enable interrupts.
*/ */
#define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0 #define secureportPRIMASK_ENABLE_INTERRUPTS_VAL 0
/** /**
* @brief PRIMASK value to disable interrupts. * @brief PRIMASK value to disable interrupts.
*/ */
#define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1 #define secureportPRIMASK_DISABLE_INTERRUPTS_VAL 1
/** /**
* @brief Disable secure interrupts. * @brief Disable secure interrupts.
*/ */
#define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) #define secureportDISABLE_SECURE_INTERRUPTS() secureportSET_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
/** /**
* @brief Disable non-secure interrupts. * @brief Disable non-secure interrupts.
* *
* This effectively disables context switches. * This effectively disables context switches.
*/ */
#define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL ) #define secureportDISABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_DISABLE_INTERRUPTS_VAL )
/** /**
* @brief Enable non-secure interrupts. * @brief Enable non-secure interrupts.
*/ */
#define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL ) #define secureportENABLE_NON_SECURE_INTERRUPTS() secureportSET_NON_SECURE_PRIMASK( secureportPRIMASK_ENABLE_INTERRUPTS_VAL )
/** /**
* @brief Assert definition. * @brief Assert definition.
*/ */
#define secureportASSERT( x ) \ #define secureportASSERT( x ) \
if( ( x ) == 0 ) \ if( ( x ) == 0 ) \
{ \ { \
secureportDISABLE_SECURE_INTERRUPTS(); \ secureportDISABLE_SECURE_INTERRUPTS(); \
secureportDISABLE_NON_SECURE_INTERRUPTS(); \ secureportDISABLE_NON_SECURE_INTERRUPTS(); \
for( ;; ); \ for( ; ; ) {; } \
} }
#endif /* __SECURE_PORT_MACROS_H__ */ #endif /* __SECURE_PORT_MACROS_H__ */

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