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Memory Protection Unit (MPU) Enhancements (#705)

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Memory Protection Unit (MPU) Enhancements

This commit introduces a new MPU wrapper that places additional
restrictions on unprivileged tasks. The following is the list of changes
introduced with the new MPU wrapper:

1. Opaque and indirectly verifiable integers for kernel object handles:
   All the kernel object handles (for example, queue handles) are now
   opaque integers. Previously object handles were raw pointers.

2. Saving the task context in Task Control Block (TCB): When a task is
   swapped out by the scheduler, the task's context is now saved in its
   TCB. Previously the task's context was saved on its stack.

3. Execute system calls on a separate privileged only stack: FreeRTOS
   system calls, which execute with elevated privilege, now use a
   separate privileged only stack. Previously system calls used the
   calling task's stack. The application writer can control the size of
   the system call stack using new configSYSTEM_CALL_STACK_SIZE config
   macro.

4. Memory bounds checks: FreeRTOS system calls which accept a pointer
   and de-reference it, now verify that the calling task has required
   permissions to access the memory location referenced by the pointer.

5. System call restrictions: The following system calls are no longer
   available to unprivileged tasks:
    - vQueueDelete
    - xQueueCreateMutex
    - xQueueCreateMutexStatic
    - xQueueCreateCountingSemaphore
    - xQueueCreateCountingSemaphoreStatic
    - xQueueGenericCreate
    - xQueueGenericCreateStatic
    - xQueueCreateSet
    - xQueueRemoveFromSet
    - xQueueGenericReset
    - xTaskCreate
    - xTaskCreateStatic
    - vTaskDelete
    - vTaskPrioritySet
    - vTaskSuspendAll
    - xTaskResumeAll
    - xTaskGetHandle
    - xTaskCallApplicationTaskHook
    - vTaskList
    - vTaskGetRunTimeStats
    - xTaskCatchUpTicks
    - xEventGroupCreate
    - xEventGroupCreateStatic
    - vEventGroupDelete
    - xStreamBufferGenericCreate
    - xStreamBufferGenericCreateStatic
    - vStreamBufferDelete
    - xStreamBufferReset
   Also, an unprivileged task can no longer use vTaskSuspend to suspend
   any task other than itself.

We thank the following people for their inputs in these enhancements:
- David Reiss of Meta Platforms, Inc.
- Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling
  of School of Computer Science and Engineering, Southeast University,
  China.
- Xinwen Fu of Department of Computer Science, University of
  Massachusetts Lowell, USA.
- Yuequi Chen, Zicheng Wang, Minghao Lin of University of Colorado
  Boulder, USA.
This commit is contained in:
kar-rahul-aws 2023-07-13 16:51:04 +05:30 • committed by GitHub
parent 18e2937239
commit 97050a17aa
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GPG key ID: 4AEE18F83AFDEB23
123 changed files with 94802 additions and 6515 deletions
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1556
portable/IAR/ARM_CM4F_MPU/mpu_wrappers_v2_asm.S Normal file
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519
portable/IAR/ARM_CM4F_MPU/port.c
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@ -132,8 +132,14 @@
#define portINITIAL_CONTROL_IF_UNPRIVILEGED ( 0x03 )
#define portINITIAL_CONTROL_IF_PRIVILEGED ( 0x02 )
/* Constants used during system call enter and exit. */
#define portPSR_STACK_PADDING_MASK ( 1UL << 9UL )
#define portEXC_RETURN_STACK_FRAME_TYPE_MASK ( 1UL << 4UL )
/* Offsets in the stack to the parameters when inside the SVC handler. */
#define portOFFSET_TO_LR ( 5 )
#define portOFFSET_TO_PC ( 6 )
#define portOFFSET_TO_PSR ( 7 )
/* The systick is a 24-bit counter. */
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
@ -147,6 +153,21 @@
* have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
/* Does addr lie within [start, end] address range? */
#define portIS_ADDRESS_WITHIN_RANGE( addr, start, end ) \
( ( ( addr ) >= ( start ) ) && ( ( addr ) <= ( end ) ) )
/* Is the access request satisfied by the available permissions? */
#define portIS_AUTHORIZED( accessRequest, permissions ) \
( ( ( permissions ) & ( accessRequest ) ) == accessRequest )
/* Max value that fits in a uint32_t type. */
#define portUINT32_MAX ( ~( ( uint32_t ) 0 ) )
/* Check if adding a and b will result in overflow. */
#define portADD_UINT32_WILL_OVERFLOW( a, b ) ( ( a ) > ( portUINT32_MAX - ( b ) ) )
/*-----------------------------------------------------------*/
/*
* Configure a number of standard MPU regions that are used by all tasks.
*/
@ -184,7 +205,7 @@ extern void vPortEnableVFP( void );
/*
* The C portion of the SVC handler.
*/
void vPortSVCHandler_C( uint32_t * pulParam );
void vPortSVCHandler_C( uint32_t * pulParam ) PRIVILEGED_FUNCTION;
/*
* Called from the SVC handler used to start the scheduler.
@ -208,6 +229,57 @@ extern void vPortRestoreContextOfFirstTask( void ) PRIVILEGED_FUNCTION;
#else
void vPortExitCritical( void ) PRIVILEGED_FUNCTION;
#endif
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
/**
* @brief Sets up the system call stack so that upon returning from
* SVC, the system call stack is used.
*
* It is used for the system calls with up to 4 parameters.
*
* @param pulTaskStack The current SP when the SVC was raised.
* @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler.
*/
void vSystemCallEnter( uint32_t * pulTaskStack, uint32_t ulLR ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
/**
* @brief Sets up the system call stack so that upon returning from
* SVC, the system call stack is used.
*
* It is used for the system calls with 5 parameters.
*
* @param pulTaskStack The current SP when the SVC was raised.
* @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler.
*/
void vSystemCallEnter_1( uint32_t * pulTaskStack, uint32_t ulLR ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
/**
* @brief Sets up the task stack so that upon returning from
* SVC, the task stack is used again.
*
* @param pulSystemCallStack The current SP when the SVC was raised.
* @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler.
*/
void vSystemCallExit( uint32_t * pulSystemCallStack, uint32_t ulLR ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/**
* @brief Checks whether or not the calling task is privileged.
*
* @return pdTRUE if the calling task is privileged, pdFALSE otherwise.
*/
BaseType_t xPortIsTaskPrivileged( void ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------*/
/* Each task maintains its own interrupt status in the critical nesting
@ -233,46 +305,56 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters,
BaseType_t xRunPrivileged )
BaseType_t xRunPrivileged,
xMPU_SETTINGS * xMPUSettings )
{
/* Simulate the stack frame as it would be created by a context switch
* interrupt. */
/* Offset added to account for the way the MCU uses the stack on entry/exit
* of interrupts, and to ensure alignment. */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0; /* LR */
/* Save code space by skipping register initialisation. */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
/* A save method is being used that requires each task to maintain its
* own exec return value. */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN;
pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
if( xRunPrivileged == pdTRUE )
{
*pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED;
xMPUSettings->ulTaskFlags |= portTASK_IS_PRIVILEGED_FLAG;
xMPUSettings->ulContext[ 0 ] = portINITIAL_CONTROL_IF_PRIVILEGED;
}
else
{
*pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED;
xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG );
xMPUSettings->ulContext[ 0 ] = portINITIAL_CONTROL_IF_UNPRIVILEGED;
}
xMPUSettings->ulContext[ 1 ] = 0x04040404; /* r4. */
xMPUSettings->ulContext[ 2 ] = 0x05050505; /* r5. */
xMPUSettings->ulContext[ 3 ] = 0x06060606; /* r6. */
xMPUSettings->ulContext[ 4 ] = 0x07070707; /* r7. */
xMPUSettings->ulContext[ 5 ] = 0x08080808; /* r8. */
xMPUSettings->ulContext[ 6 ] = 0x09090909; /* r9. */
xMPUSettings->ulContext[ 7 ] = 0x10101010; /* r10. */
xMPUSettings->ulContext[ 8 ] = 0x11111111; /* r11. */
xMPUSettings->ulContext[ 9 ] = portINITIAL_EXC_RETURN; /* EXC_RETURN. */
return pxTopOfStack;
xMPUSettings->ulContext[ 10 ] = ( uint32_t ) ( pxTopOfStack - 8 ); /* PSP with the hardware saved stack. */
xMPUSettings->ulContext[ 11 ] = ( uint32_t ) pvParameters; /* r0. */
xMPUSettings->ulContext[ 12 ] = 0x01010101; /* r1. */
xMPUSettings->ulContext[ 13 ] = 0x02020202; /* r2. */
xMPUSettings->ulContext[ 14 ] = 0x03030303; /* r3. */
xMPUSettings->ulContext[ 15 ] = 0x12121212; /* r12. */
xMPUSettings->ulContext[ 16 ] = 0; /* LR. */
xMPUSettings->ulContext[ 17 ] = ( ( uint32_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC. */
xMPUSettings->ulContext[ 18 ] = portINITIAL_XPSR; /* xPSR. */
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
{
/* Ensure that the system call stack is double word aligned. */
xMPUSettings->xSystemCallStackInfo.pulSystemCallStack = &( xMPUSettings->xSystemCallStackInfo.ulSystemCallStackBuffer[ configSYSTEM_CALL_STACK_SIZE - 1 ] );
xMPUSettings->xSystemCallStackInfo.pulSystemCallStack = ( uint32_t * ) ( ( uint32_t ) ( xMPUSettings->xSystemCallStackInfo.pulSystemCallStack ) &
( uint32_t ) ( ~( portBYTE_ALIGNMENT_MASK ) ) );
/* This is not NULL only for the duration of a system call. */
xMPUSettings->xSystemCallStackInfo.pulTaskStack = NULL;
}
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
return &( xMPUSettings->ulContext[ 19 ] );
}
/*-----------------------------------------------------------*/
void vPortSVCHandler_C( uint32_t * pulParam )
void vPortSVCHandler_C( uint32_t * pulParam ) /* PRIVILEGED_FUNCTION */
{
uint8_t ucSVCNumber;
uint32_t ulPC;
@ -334,7 +416,7 @@ void vPortSVCHandler_C( uint32_t * pulParam )
::: "r1", "memory"
);
break;
#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */
#endif /* #if( configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY == 1 ) */
default: /* Unknown SVC call. */
break;
@ -342,6 +424,308 @@ void vPortSVCHandler_C( uint32_t * pulParam )
}
/*-----------------------------------------------------------*/
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
void vSystemCallEnter( uint32_t * pulTaskStack, uint32_t ulLR ) /* PRIVILEGED_FUNCTION */
{
extern TaskHandle_t pxCurrentTCB;
xMPU_SETTINGS * pxMpuSettings;
uint32_t * pulSystemCallStack;
uint32_t ulStackFrameSize, ulSystemCallLocation, i;
#if defined( __ARMCC_VERSION )
/* Declaration when these variable are defined in code instead of being
* exported from linker scripts. */
extern uint32_t * __syscalls_flash_start__;
extern uint32_t * __syscalls_flash_end__;
#else
/* Declaration when these variable are exported from linker scripts. */
extern uint32_t __syscalls_flash_start__[];
extern uint32_t __syscalls_flash_end__[];
#endif /* #if defined( __ARMCC_VERSION ) */
ulSystemCallLocation = pulTaskStack[ portOFFSET_TO_PC ];
/* If the request did not come from the system call section, do nothing. */
if( ( ulSystemCallLocation >= ( uint32_t ) __syscalls_flash_start__ ) &&
( ulSystemCallLocation <= ( uint32_t ) __syscalls_flash_end__ ) )
{
pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB );
pulSystemCallStack = pxMpuSettings->xSystemCallStackInfo.pulSystemCallStack;
/* This is not NULL only for the duration of the system call. */
configASSERT( pxMpuSettings->xSystemCallStackInfo.pulTaskStack == NULL );
if( ( ulLR & portEXC_RETURN_STACK_FRAME_TYPE_MASK ) == 0UL )
{
/* Extended frame i.e. FPU in use. */
ulStackFrameSize = 26;
__asm volatile (
" vpush {s0} \n" /* Trigger lazy stacking. */
" vpop {s0} \n" /* Nullify the affect of the above instruction. */
::: "memory"
);
}
else
{
/* Standard frame i.e. FPU not in use. */
ulStackFrameSize = 8;
}
/* Make space on the system call stack for the stack frame. */
pulSystemCallStack = pulSystemCallStack - ulStackFrameSize;
/* Copy the stack frame. */
for( i = 0; i < ulStackFrameSize; i++ )
{
pulSystemCallStack[ i ] = pulTaskStack[ i ];
}
/* Use the pulSystemCallStack in thread mode. */
__asm volatile ( "msr psp, %0" : : "r" ( pulSystemCallStack ) );
/* Raise the privilege for the duration of the system call. */
__asm volatile (
" mrs r1, control \n" /* Obtain current control value. */
" bic r1, #1 \n" /* Clear nPRIV bit. */
" msr control, r1 \n" /* Write back new control value. */
::: "r1", "memory"
);
/* Remember the location where we should copy the stack frame when we exit from
* the system call. */
pxMpuSettings->xSystemCallStackInfo.pulTaskStack = pulTaskStack + ulStackFrameSize;
/* Store the value of the Link Register before the SVC was raised. We need to
* restore it when we exit from the system call. */
pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry = pulTaskStack[ portOFFSET_TO_LR ];
/* Record if the hardware used padding to force the stack pointer
* to be double word aligned. */
if( ( pulTaskStack[ portOFFSET_TO_PSR ] & portPSR_STACK_PADDING_MASK ) == portPSR_STACK_PADDING_MASK )
{
pxMpuSettings->ulTaskFlags |= portSTACK_FRAME_HAS_PADDING_FLAG;
}
else
{
pxMpuSettings->ulTaskFlags &= ( ~portSTACK_FRAME_HAS_PADDING_FLAG );
}
/* We ensure in pxPortInitialiseStack that the system call stack is
* double word aligned and therefore, there is no need of padding.
* Clear the bit[9] of stacked xPSR. */
pulSystemCallStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK );
}
}
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
void vSystemCallEnter_1( uint32_t * pulTaskStack, uint32_t ulLR ) /* PRIVILEGED_FUNCTION */
{
extern TaskHandle_t pxCurrentTCB;
xMPU_SETTINGS * pxMpuSettings;
uint32_t * pulSystemCallStack;
uint32_t ulStackFrameSize, ulSystemCallLocation, i;
#if defined( __ARMCC_VERSION )
/* Declaration when these variable are defined in code instead of being
* exported from linker scripts. */
extern uint32_t * __syscalls_flash_start__;
extern uint32_t * __syscalls_flash_end__;
#else
/* Declaration when these variable are exported from linker scripts. */
extern uint32_t __syscalls_flash_start__[];
extern uint32_t __syscalls_flash_end__[];
#endif /* #if defined( __ARMCC_VERSION ) */
ulSystemCallLocation = pulTaskStack[ portOFFSET_TO_PC ];
/* If the request did not come from the system call section, do nothing. */
if( ( ulSystemCallLocation >= ( uint32_t ) __syscalls_flash_start__ ) &&
( ulSystemCallLocation <= ( uint32_t ) __syscalls_flash_end__ ) )
{
pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB );
pulSystemCallStack = pxMpuSettings->xSystemCallStackInfo.pulSystemCallStack;
/* This is not NULL only for the duration of the system call. */
configASSERT( pxMpuSettings->xSystemCallStackInfo.pulTaskStack == NULL );
if( ( ulLR & portEXC_RETURN_STACK_FRAME_TYPE_MASK ) == 0UL )
{
/* Extended frame i.e. FPU in use. */
ulStackFrameSize = 26;
__asm volatile (
" vpush {s0} \n" /* Trigger lazy stacking. */
" vpop {s0} \n" /* Nullify the affect of the above instruction. */
::: "memory"
);
}
else
{
/* Standard frame i.e. FPU not in use. */
ulStackFrameSize = 8;
}
/* Make space on the system call stack for the stack frame and
* the parameter passed on the stack. We only need to copy one
* parameter but we still reserve 2 spaces to keep the stack
* double word aligned. */
pulSystemCallStack = pulSystemCallStack - ulStackFrameSize - 2UL;
/* Copy the stack frame. */
for( i = 0; i < ulStackFrameSize; i++ )
{
pulSystemCallStack[ i ] = pulTaskStack[ i ];
}
/* Copy the parameter which is passed the stack. */
if( ( pulTaskStack[ portOFFSET_TO_PSR ] & portPSR_STACK_PADDING_MASK ) == portPSR_STACK_PADDING_MASK )
{
pulSystemCallStack[ ulStackFrameSize ] = pulTaskStack[ ulStackFrameSize + 1 ];
/* Record if the hardware used padding to force the stack pointer
* to be double word aligned. */
pxMpuSettings->ulTaskFlags |= portSTACK_FRAME_HAS_PADDING_FLAG;
}
else
{
pulSystemCallStack[ ulStackFrameSize ] = pulTaskStack[ ulStackFrameSize ];
/* Record if the hardware used padding to force the stack pointer
* to be double word aligned. */
pxMpuSettings->ulTaskFlags &= ( ~portSTACK_FRAME_HAS_PADDING_FLAG );
}
/* Use the pulSystemCallStack in thread mode. */
__asm volatile ( "msr psp, %0" : : "r" ( pulSystemCallStack ) );
/* Raise the privilege for the duration of the system call. */
__asm volatile (
" mrs r1, control \n" /* Obtain current control value. */
" bic r1, #1 \n" /* Clear nPRIV bit. */
" msr control, r1 \n" /* Write back new control value. */
::: "r1", "memory"
);
/* Remember the location where we should copy the stack frame when we exit from
* the system call. */
pxMpuSettings->xSystemCallStackInfo.pulTaskStack = pulTaskStack + ulStackFrameSize;
/* Store the value of the Link Register before the SVC was raised. We need to
* restore it when we exit from the system call. */
pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry = pulTaskStack[ portOFFSET_TO_LR ];
/* We ensure in pxPortInitialiseStack that the system call stack is
* double word aligned and therefore, there is no need of padding.
* Clear the bit[9] of stacked xPSR. */
pulSystemCallStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK );
}
}
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
void vSystemCallExit( uint32_t * pulSystemCallStack, uint32_t ulLR ) /* PRIVILEGED_FUNCTION */
{
extern TaskHandle_t pxCurrentTCB;
xMPU_SETTINGS * pxMpuSettings;
uint32_t * pulTaskStack;
uint32_t ulStackFrameSize, ulSystemCallLocation, i;
#if defined( __ARMCC_VERSION )
/* Declaration when these variable are defined in code instead of being
* exported from linker scripts. */
extern uint32_t * __syscalls_flash_start__;
extern uint32_t * __syscalls_flash_end__;
#else
/* Declaration when these variable are exported from linker scripts. */
extern uint32_t __syscalls_flash_start__[];
extern uint32_t __syscalls_flash_end__[];
#endif /* #if defined( __ARMCC_VERSION ) */
ulSystemCallLocation = pulSystemCallStack[ portOFFSET_TO_PC ];
/* If the request did not come from the system call section, do nothing. */
if( ( ulSystemCallLocation >= ( uint32_t ) __syscalls_flash_start__ ) &&
( ulSystemCallLocation <= ( uint32_t ) __syscalls_flash_end__ ) )
{
pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB );
pulTaskStack = pxMpuSettings->xSystemCallStackInfo.pulTaskStack;
if( ( ulLR & portEXC_RETURN_STACK_FRAME_TYPE_MASK ) == 0UL )
{
/* Extended frame i.e. FPU in use. */
ulStackFrameSize = 26;
__asm volatile (
" vpush {s0} \n" /* Trigger lazy stacking. */
" vpop {s0} \n" /* Nullify the affect of the above instruction. */
::: "memory"
);
}
else
{
/* Standard frame i.e. FPU not in use. */
ulStackFrameSize = 8;
}
/* Make space on the task stack for the stack frame. */
pulTaskStack = pulTaskStack - ulStackFrameSize;
/* Copy the stack frame. */
for( i = 0; i < ulStackFrameSize; i++ )
{
pulTaskStack[ i ] = pulSystemCallStack[ i ];
}
/* Use the pulTaskStack in thread mode. */
__asm volatile ( "msr psp, %0" : : "r" ( pulTaskStack ) );
/* Drop the privilege before returning to the thread mode. */
__asm volatile (
" mrs r1, control \n" /* Obtain current control value. */
" orr r1, #1 \n" /* Set nPRIV bit. */
" msr control, r1 \n" /* Write back new control value. */
::: "r1", "memory"
);
/* Restore the stacked link register to what it was at the time of
* system call entry. */
pulTaskStack[ portOFFSET_TO_LR ] = pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry;
/* If the hardware used padding to force the stack pointer
* to be double word aligned, set the stacked xPSR bit[9],
* otherwise clear it. */
if( ( pxMpuSettings->ulTaskFlags & portSTACK_FRAME_HAS_PADDING_FLAG ) == portSTACK_FRAME_HAS_PADDING_FLAG )
{
pulTaskStack[ portOFFSET_TO_PSR ] |= portPSR_STACK_PADDING_MASK;
}
else
{
pulTaskStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK );
}
/* This is not NULL only for the duration of the system call. */
pxMpuSettings->xSystemCallStackInfo.pulTaskStack = NULL;
}
}
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/
BaseType_t xPortIsTaskPrivileged( void ) /* PRIVILEGED_FUNCTION */
{
BaseType_t xTaskIsPrivileged = pdFALSE;
const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
{
xTaskIsPrivileged = pdTRUE;
}
return xTaskIsPrivileged;
}
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
@ -738,11 +1122,19 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) |
( portMPU_REGION_ENABLE );
xMPUSettings->xRegionSettings[ 0 ].ulRegionStartAddress = ( uint32_t ) __SRAM_segment_start__;
xMPUSettings->xRegionSettings[ 0 ].ulRegionEndAddress = ( uint32_t ) __SRAM_segment_end__;
xMPUSettings->xRegionSettings[ 0 ].ulRegionPermissions = ( tskMPU_READ_PERMISSION |
tskMPU_WRITE_PERMISSION );
/* Invalidate user configurable regions. */
for( ul = 1UL; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
{
xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( ( ul - 1UL ) | portMPU_REGION_VALID );
xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
xMPUSettings->xRegionSettings[ ul ].ulRegionStartAddress = 0UL;
xMPUSettings->xRegionSettings[ ul ].ulRegionEndAddress = 0UL;
xMPUSettings->xRegionSettings[ ul ].ulRegionPermissions = 0UL;
}
}
else
@ -765,6 +1157,13 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) |
( ( configTEX_S_C_B_SRAM & portMPU_RASR_TEX_S_C_B_MASK ) << portMPU_RASR_TEX_S_C_B_LOCATION ) |
( portMPU_REGION_ENABLE );
xMPUSettings->xRegionSettings[ 0 ].ulRegionStartAddress = ( uint32_t ) pxBottomOfStack;
xMPUSettings->xRegionSettings[ 0 ].ulRegionEndAddress = ( uint32_t ) ( ( uint32_t ) ( pxBottomOfStack ) +
( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) - 1UL );
xMPUSettings->xRegionSettings[ 0 ].ulRegionPermissions = ( tskMPU_READ_PERMISSION |
tskMPU_WRITE_PERMISSION );
}
lIndex = 0;
@ -785,12 +1184,28 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) |
( xRegions[ lIndex ].ulParameters ) |
( portMPU_REGION_ENABLE );
xMPUSettings->xRegionSettings[ ul ].ulRegionStartAddress = ( uint32_t) xRegions[ lIndex ].pvBaseAddress;
xMPUSettings->xRegionSettings[ ul ].ulRegionEndAddress = ( uint32_t ) ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1UL );
xMPUSettings->xRegionSettings[ ul ].ulRegionPermissions = 0UL;
if( ( ( xRegions[ lIndex ].ulParameters & portMPU_REGION_READ_ONLY ) == portMPU_REGION_READ_ONLY ) ||
( ( xRegions[ lIndex ].ulParameters & portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY ) == portMPU_REGION_PRIVILEGED_READ_WRITE_UNPRIV_READ_ONLY ) )
{
xMPUSettings->xRegionSettings[ ul ].ulRegionPermissions = tskMPU_READ_PERMISSION;
}
if( ( xRegions[ lIndex ].ulParameters & portMPU_REGION_READ_WRITE ) == portMPU_REGION_READ_WRITE )
{
xMPUSettings->xRegionSettings[ ul ].ulRegionPermissions = ( tskMPU_READ_PERMISSION | tskMPU_WRITE_PERMISSION );
}
}
else
{
/* Invalidate the region. */
xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( ( ul - 1UL ) | portMPU_REGION_VALID );
xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
xMPUSettings->xRegionSettings[ ul ].ulRegionStartAddress = 0UL;
xMPUSettings->xRegionSettings[ ul ].ulRegionEndAddress = 0UL;
xMPUSettings->xRegionSettings[ ul ].ulRegionPermissions = 0UL;
}
lIndex++;
@ -799,6 +1214,48 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
}
/*-----------------------------------------------------------*/
BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
uint32_t ulBufferLength,
uint32_t ulAccessRequested ) /* PRIVILEGED_FUNCTION */
{
uint32_t i, ulBufferStartAddress, ulBufferEndAddress;
BaseType_t xAccessGranted = pdFALSE;
const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
{
xAccessGranted = pdTRUE;
}
else
{
if( portADD_UINT32_WILL_OVERFLOW( ( ( uint32_t ) pvBuffer ), ( ulBufferLength - 1UL ) ) == pdFALSE )
{
ulBufferStartAddress = ( uint32_t ) pvBuffer;
ulBufferEndAddress = ( ( ( uint32_t ) pvBuffer ) + ulBufferLength - 1UL );
for( i = 0; i < portTOTAL_NUM_REGIONS_IN_TCB; i++ )
{
if( portIS_ADDRESS_WITHIN_RANGE( ulBufferStartAddress,
xTaskMpuSettings->xRegionSettings[ i ].ulRegionStartAddress,
xTaskMpuSettings->xRegionSettings[ i ].ulRegionEndAddress ) &&
portIS_ADDRESS_WITHIN_RANGE( ulBufferEndAddress,
xTaskMpuSettings->xRegionSettings[ i ].ulRegionStartAddress,
xTaskMpuSettings->xRegionSettings[ i ].ulRegionEndAddress ) &&
portIS_AUTHORIZED( ulAccessRequested, xTaskMpuSettings->xRegionSettings[ i ].ulRegionPermissions ) )
{
xAccessGranted = pdTRUE;
break;
}
}
}
}
return xAccessGranted;
}
/*-----------------------------------------------------------*/
#if ( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void )

263
portable/IAR/ARM_CM4F_MPU/portasm.s
View file

@ -25,6 +25,7 @@
* https://github.com/FreeRTOS
*
*/
/* Including FreeRTOSConfig.h here will cause build errors if the header file
contains code not understood by the assembler - for example the 'extern' keyword.
To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so
@ -38,6 +39,9 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
EXTERN pxCurrentTCB
EXTERN vTaskSwitchContext
EXTERN vPortSVCHandler_C
EXTERN vSystemCallEnter
EXTERN vSystemCallEnter_1
EXTERN vSystemCallExit
PUBLIC xPortPendSVHandler
PUBLIC vPortSVCHandler
@ -49,99 +53,141 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
/*-----------------------------------------------------------*/
#ifndef configUSE_MPU_WRAPPERS_V1
#define configUSE_MPU_WRAPPERS_V1 0
#endif
/* These must be in sync with portmacro.h. */
#define portSVC_SYSTEM_CALL_ENTER 3
#define portSVC_SYSTEM_CALL_ENTER_1 4
#define portSVC_SYSTEM_CALL_EXIT 5
/*-----------------------------------------------------------*/
xPortPendSVHandler:
ldr r3, =pxCurrentTCB
ldr r2, [r3] /* r2 = pxCurrentTCB. */
ldr r1, [r2] /* r1 = Location where the context should be saved. */
/*------------ Save Context. ----------- */
mrs r3, control
mrs r0, psp
isb
/* Get the location of the current TCB. */
ldr r3, =pxCurrentTCB
ldr r2, [r3]
/* Is the task using the FPU context? If so, push high vfp registers. */
tst r14, #0x10
it eq
vstmdbeq r0!, {s16-s31}
add r0, r0, #0x20 /* Move r0 to location where s0 is saved. */
tst lr, #0x10
ittt eq
vstmiaeq r1!, {s16-s31} /* Store s16-s31. */
vldmiaeq r0, {s0-s16} /* Copy hardware saved FP context into s0-s16. */
vstmiaeq r1!, {s0-s16} /* Store hardware saved FP context. */
sub r0, r0, #0x20 /* Set r0 back to the location of hardware saved context. */
/* Save the core registers. */
mrs r1, control
stmdb r0!, {r1, r4-r11, r14}
stmia r1!, {r3-r11, lr} /* Store CONTROL register, r4-r11 and LR. */
ldmia r0, {r4-r11} /* Copy hardware saved context into r4-r11. */
stmia r1!, {r0, r4-r11} /* Store original PSP (after hardware has saved context) and the hardware saved context. */
str r1, [r2] /* Save the location from where the context should be restored as the first member of TCB. */
/* Save the new top of stack into the first member of the TCB. */
str r0, [r2]
stmdb sp!, {r0, r3}
/*---------- Select next task. --------- */
mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
cpsid i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
#endif
#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
cpsid i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
#endif
msr basepri, r0
dsb
isb
#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
cpsie i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
#endif
#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
cpsie i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
#endif
bl vTaskSwitchContext
mov r0, #0
msr basepri, r0
ldmia sp!, {r0, r3}
/* The first item in pxCurrentTCB is the task top of stack. */
ldr r1, [r3]
ldr r0, [r1]
/* Move onto the second item in the TCB... */
add r1, r1, #4
/*------------ Program MPU. ------------ */
ldr r3, =pxCurrentTCB
ldr r2, [r3] /* r2 = pxCurrentTCB. */
add r2, r2, #4 /* r2 = Second item in the TCB which is xMPUSettings. */
dmb /* Complete outstanding transfers before disabling MPU. */
ldr r2, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r2] /* Read the value of MPU_CTRL. */
bic r3, r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
str r3, [r2] /* Disable MPU. */
dmb /* Complete outstanding transfers before disabling MPU. */
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r0] /* Read the value of MPU_CTRL. */
bic r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
str r3, [r0] /* Disable MPU. */
/* Region Base Address register. */
ldr r2, =0xe000ed9c
/* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */
ldmia r1!, {r4-r11}
/* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */
stmia r2, {r4-r11}
ldr r0, =0xe000ed9c /* Region Base Address register. */
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */
stmia r0, {r4-r11} /* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */
#ifdef configTOTAL_MPU_REGIONS
#if ( configTOTAL_MPU_REGIONS == 16 )
/* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */
ldmia r1!, {r4-r11}
/* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */
stmia r2, {r4-r11}
/* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */
ldmia r1!, {r4-r11}
/* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */
stmia r2, {r4-r11}
#endif /* configTOTAL_MPU_REGIONS == 16. */
#endif /* configTOTAL_MPU_REGIONS */
#ifdef configTOTAL_MPU_REGIONS
#if ( configTOTAL_MPU_REGIONS == 16 )
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */
#endif /* configTOTAL_MPU_REGIONS == 16. */
#endif
ldr r2, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r2] /* Read the value of MPU_CTRL. */
orr r3, r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
str r3, [r2] /* Enable MPU. */
dsb /* Force memory writes before continuing. */
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r0] /* Read the value of MPU_CTRL. */
orr r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
str r3, [r0] /* Enable MPU. */
dsb /* Force memory writes before continuing. */
/* Pop the registers that are not automatically saved on exception entry. */
ldmia r0!, {r3-r11, r14}
/*---------- Restore Context. ---------- */
ldr r3, =pxCurrentTCB
ldr r2, [r3] /* r2 = pxCurrentTCB. */
ldr r1, [r2] /* r1 = Location of saved context in TCB. */
ldmdb r1!, {r0, r4-r11} /* r0 contains PSP after the hardware had saved context. r4-r11 contain hardware saved context. */
msr psp, r0
stmia r0!, {r4-r11} /* Copy the hardware saved context on the task stack. */
ldmdb r1!, {r3-r11, lr} /* r3 contains CONTROL register. r4-r11 and LR restored. */
msr control, r3
/* Is the task using the FPU context? If so, pop the high vfp registers
too. */
tst r14, #0x10
it eq
vldmiaeq r0!, {s16-s31}
msr psp, r0
isb
bx r14
tst lr, #0x10
ittt eq
vldmdbeq r1!, {s0-s16} /* s0-s16 contain hardware saved FP context. */
vstmiaeq r0!, {s0-s16} /* Copy hardware saved FP context on the task stack. */
vldmdbeq r1!, {s16-s31} /* Restore s16-s31. */
str r1, [r2] /* Save the location where the context should be saved next as the first member of TCB. */
bx lr
/*-----------------------------------------------------------*/
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
vPortSVCHandler:
#ifndef USE_PROCESS_STACK /* Code should not be required if a main() is using the process stack. */
tst lr, #4
ite eq
mrseq r0, msp
mrsne r0, psp
ldr r1, [r0, #24]
ldrb r2, [r1, #-2]
cmp r2, #portSVC_SYSTEM_CALL_ENTER
beq syscall_enter
cmp r2, #portSVC_SYSTEM_CALL_ENTER_1
beq syscall_enter_1
cmp r2, #portSVC_SYSTEM_CALL_EXIT
beq syscall_exit
b vPortSVCHandler_C
syscall_enter:
mov r1, lr
b vSystemCallEnter
syscall_enter_1:
mov r1, lr
b vSystemCallEnter_1
syscall_exit:
mov r1, lr
b vSystemCallExit
#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
vPortSVCHandler:
#ifndef USE_PROCESS_STACK
tst lr, #4
ite eq
mrseq r0, msp
@ -151,6 +197,7 @@ vPortSVCHandler:
#endif
b vPortSVCHandler_C
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/
vPortStartFirstTask:
@ -176,60 +223,56 @@ vPortStartFirstTask:
/*-----------------------------------------------------------*/
vPortRestoreContextOfFirstTask:
/* Use the NVIC offset register to locate the stack. */
ldr r0, =0xE000ED08
ldr r0, =0xE000ED08 /* Use the NVIC offset register to locate the stack. */
ldr r0, [r0]
ldr r0, [r0]
/* Set the msp back to the start of the stack. */
msr msp, r0
/* Restore the context. */
msr msp, r0 /* Set the msp back to the start of the stack. */
/*------------ Program MPU. ------------ */
ldr r3, =pxCurrentTCB
ldr r1, [r3]
/* The first item in the TCB is the task top of stack. */
ldr r0, [r1]
/* Move onto the second item in the TCB... */
add r1, r1, #4
ldr r2, [r3] /* r2 = pxCurrentTCB. */
add r2, r2, #4 /* r2 = Second item in the TCB which is xMPUSettings. */
dmb /* Complete outstanding transfers before disabling MPU. */
ldr r2, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r2] /* Read the value of MPU_CTRL. */
bic r3, r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
str r3, [r2] /* Disable MPU. */
dmb /* Complete outstanding transfers before disabling MPU. */
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r0] /* Read the value of MPU_CTRL. */
bic r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
str r3, [r0] /* Disable MPU. */
/* Region Base Address register. */
ldr r2, =0xe000ed9c
/* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */
ldmia r1!, {r4-r11}
/* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */
stmia r2, {r4-r11}
ldr r0, =0xe000ed9c /* Region Base Address register. */
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */
stmia r0, {r4-r11} /* Write 4 sets of MPU registers [MPU Region # 4 - 7]. */
#ifdef configTOTAL_MPU_REGIONS
#if ( configTOTAL_MPU_REGIONS == 16 )
/* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */
ldmia r1!, {r4-r11}
/* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */
stmia r2, {r4-r11}
/* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */
ldmia r1!, {r4-r11}
/* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */
stmia r2, {r4-r11}
#endif /* configTOTAL_MPU_REGIONS == 16. */
#endif /* configTOTAL_MPU_REGIONS */
#ifdef configTOTAL_MPU_REGIONS
#if ( configTOTAL_MPU_REGIONS == 16 )
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 12 - 15]. */
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 12 - 15]. */
#endif /* configTOTAL_MPU_REGIONS == 16. */
#endif
ldr r2, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r2] /* Read the value of MPU_CTRL. */
orr r3, r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
str r3, [r2] /* Enable MPU. */
dsb /* Force memory writes before continuing. */
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
ldr r3, [r0] /* Read the value of MPU_CTRL. */
orr r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
str r3, [r0] /* Enable MPU. */
dsb /* Force memory writes before continuing. */
/* Pop the registers that are not automatically saved on exception entry. */
ldmia r0!, {r3-r11, r14}
msr control, r3
/* Restore the task stack pointer. */
/*---------- Restore Context. ---------- */
ldr r3, =pxCurrentTCB
ldr r2, [r3] /* r2 = pxCurrentTCB. */
ldr r1, [r2] /* r1 = Location of saved context in TCB. */
ldmdb r1!, {r0, r4-r11} /* r0 contains PSP after the hardware had saved context. r4-r11 contain hardware saved context. */
msr psp, r0
stmia r0, {r4-r11} /* Copy the hardware saved context on the task stack. */
ldmdb r1!, {r3-r11, lr} /* r3 contains CONTROL register. r4-r11 and LR restored. */
msr control, r3
str r1, [r2] /* Save the location where the context should be saved next as the first member of TCB. */
mov r0, #0
msr basepri, r0
bx r14
bx lr
/*-----------------------------------------------------------*/

55
portable/IAR/ARM_CM4F_MPU/portmacro.h
View file

@ -195,9 +195,45 @@ typedef struct MPU_REGION_REGISTERS
uint32_t ulRegionAttribute;
} xMPU_REGION_REGISTERS;
typedef struct MPU_REGION_SETTINGS
{
uint32_t ulRegionStartAddress;
uint32_t ulRegionEndAddress;
uint32_t ulRegionPermissions;
} xMPU_REGION_SETTINGS;
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
#ifndef configSYSTEM_CALL_STACK_SIZE
#error configSYSTEM_CALL_STACK_SIZE must be defined to the desired size of the system call stack in words for using MPU wrappers v2.
#endif
typedef struct SYSTEM_CALL_STACK_INFO
{
uint32_t ulSystemCallStackBuffer[ configSYSTEM_CALL_STACK_SIZE ];
uint32_t * pulSystemCallStack;
uint32_t * pulTaskStack;
uint32_t ulLinkRegisterAtSystemCallEntry;
} xSYSTEM_CALL_STACK_INFO;
#endif /* configUSE_MPU_WRAPPERS_V1 == 0 */
#define MAX_CONTEXT_SIZE 52
/* Flags used for xMPU_SETTINGS.ulTaskFlags member. */
#define portSTACK_FRAME_HAS_PADDING_FLAG ( 1UL << 0UL )
#define portTASK_IS_PRIVILEGED_FLAG ( 1UL << 1UL )
typedef struct MPU_SETTINGS
{
xMPU_REGION_REGISTERS xRegion[ portTOTAL_NUM_REGIONS_IN_TCB ];
xMPU_REGION_SETTINGS xRegionSettings[ portTOTAL_NUM_REGIONS_IN_TCB ];
uint32_t ulContext[ MAX_CONTEXT_SIZE ];
uint32_t ulTaskFlags;
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
#endif
} xMPU_SETTINGS;
/* Architecture specifics. */
@ -207,9 +243,12 @@ typedef struct MPU_SETTINGS
/*-----------------------------------------------------------*/
/* SVC numbers for various services. */
#define portSVC_START_SCHEDULER 0
#define portSVC_YIELD 1
#define portSVC_RAISE_PRIVILEGE 2
#define portSVC_START_SCHEDULER 0
#define portSVC_YIELD 1
#define portSVC_RAISE_PRIVILEGE 2
#define portSVC_SYSTEM_CALL_ENTER 3 /* System calls with upto 4 parameters. */
#define portSVC_SYSTEM_CALL_ENTER_1 4 /* System calls with 5 parameters. */
#define portSVC_SYSTEM_CALL_EXIT 5
/* Scheduler utilities. */
@ -348,6 +387,16 @@ extern void vResetPrivilege( void );
#define portRESET_PRIVILEGE() vResetPrivilege()
/*-----------------------------------------------------------*/
extern BaseType_t xPortIsTaskPrivileged( void );
/**
* @brief Checks whether or not the calling task is privileged.
*
* @return pdTRUE if the calling task is privileged, pdFALSE otherwise.
*/
#define portIS_TASK_PRIVILEGED() xPortIsTaskPrivileged()
/*-----------------------------------------------------------*/
#ifndef configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY
#warning "configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY is not defined. We recommend defining it to 1 in FreeRTOSConfig.h for better security. https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html"
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 0