Merge branch 'FreeRTOS:main' into main

portable/ARMv8M/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/ARMv8M/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/CCS/ARM_CM3/port.c

@@ -363,14 +363,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }

portable/CCS/ARM_CM3/portmacro.h

@@ -97,8 +97,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 
 /*-----------------------------------------------------------*/
 

portable/CCS/ARM_CM4F/port.c

@@ -388,14 +388,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }

portable/CCS/ARM_CM4F/portmacro.h

@@ -91,8 +91,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 
 /*-----------------------------------------------------------*/
 

portable/CodeWarrior/ColdFire_V1/portmacro.h

@@ -106,8 +106,19 @@ extern void vPortClearInterruptMaskFromISR( UBaseType_t );
 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )              do { if( xSwitchRequired != pdFALSE ) { portYIELD(); } } while( 0 )
-
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 /* *INDENT-OFF* */
 #ifdef __cplusplus

portable/CodeWarrior/ColdFire_V2/portmacro.h

@@ -105,8 +105,19 @@ extern void vPortClearInterruptMaskFromISR( UBaseType_t );
 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )              do { if( xSwitchRequired != pdFALSE ) { portYIELD(); } } while( 0 )
-
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 /* *INDENT-OFF* */
 #ifdef __cplusplus

portable/Common/mpu_wrappers.c

@@ -50,6 +50,10 @@
 
 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) )
 
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+        #error Access control list is not available with this MPU wrapper. Please set configENABLE_ACCESS_CONTROL_LIST to 0.
+    #endif
+
     #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
         BaseType_t MPU_xTaskCreate( TaskFunction_t pvTaskCode,
                                     const char * const pcName,

portable/GCC/ARM_CM0/port.c

@@ -375,13 +375,19 @@ void xPortSysTickHandler( void )
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }

portable/GCC/ARM_CM0/portmacro.h

@@ -87,9 +87,19 @@ extern void vPortYield( void );
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portYIELD()                vPortYield()
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM23/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM23_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM3/port.c

@@ -452,14 +452,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }

portable/GCC/ARM_CM3/portmacro.h

@@ -95,8 +95,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/GCC/ARM_CM33/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM33_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM35P/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM35P/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM35P_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM35P_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM3_MPU/port.c

@@ -185,6 +185,11 @@ BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) );
  */
 void vResetPrivilege( void ) __attribute__( ( naked ) );
 
+/**
+ * @brief Make a task unprivileged.
+ */
+void vPortSwitchToUserMode( void );
+
 /**
  * @brief Enter critical section.
  */
@@ -284,7 +289,7 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
     }
     else
     {
-        xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG );
+        xMPUSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
         xMPUSettings->ulContext[ 0 ] = portINITIAL_CONTROL_IF_UNPRIVILEGED;
     }
 
@@ -1057,13 +1062,19 @@ void xPortSysTickHandler( void )
     uint32_t ulDummy;
 
     ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
 }
@@ -1203,6 +1214,19 @@ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
 }
 /*-----------------------------------------------------------*/
 
+void vPortSwitchToUserMode( void )
+{
+    /* Load the current task's MPU settings from its TCB. */
+    xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL );
+
+    /* Mark the task as unprivileged. */
+    xTaskMpuSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
+
+    /* Lower the processor's privilege level. */
+    vResetPrivilege();
+}
+/*-----------------------------------------------------------*/
+
 void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
                                 const struct xMEMORY_REGION * const xRegions,
                                 StackType_t * pxBottomOfStack,
@@ -1423,3 +1447,85 @@ BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
 
 #endif /* configASSERT_DEFINED */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM3_MPU/portmacro.h

@@ -96,8 +96,6 @@ typedef unsigned long    UBaseType_t;
 #define portNUM_CONFIGURABLE_REGIONS                             ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
 #define portTOTAL_NUM_REGIONS_IN_TCB                             ( portNUM_CONFIGURABLE_REGIONS + 1 )     /* Plus one to make space for the stack region. */
 
-#define portSWITCH_TO_USER_MODE()    __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0 " ::: "r0", "memory" )
-
 typedef struct MPU_REGION_REGISTERS
 {
     uint32_t ulRegionBaseAddress;
@@ -127,7 +125,10 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-#define MAX_CONTEXT_SIZE                    20
+#define MAX_CONTEXT_SIZE                    ( 20 )
+
+/* Size of an Access Control List (ACL) entry in bits. */
+#define portACL_ENTRY_SIZE_BITS             ( 32U )
 
 /* Flags used for xMPU_SETTINGS.ulTaskFlags member. */
 #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
@@ -142,6 +143,9 @@ typedef struct MPU_SETTINGS
 
     #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
         xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+        #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+            uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+        #endif
     #endif
 } xMPU_SETTINGS;
 
@@ -176,9 +180,19 @@ typedef struct MPU_SETTINGS
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
@@ -252,24 +266,33 @@ extern void vPortExitCritical( void );
 
 extern BaseType_t xIsPrivileged( void );
 extern void vResetPrivilege( void );
+extern void vPortSwitchToUserMode( void );
 
 /**
  * @brief Checks whether or not the processor is privileged.
  *
  * @return 1 if the processor is already privileged, 0 otherwise.
  */
-#define portIS_PRIVILEGED()      xIsPrivileged()
+#define portIS_PRIVILEGED()          xIsPrivileged()
 
 /**
  * @brief Raise an SVC request to raise privilege.
  */
-#define portRAISE_PRIVILEGE()    __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+#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
  * register.
  */
-#define portRESET_PRIVILEGE()    vResetPrivilege()
+#define portRESET_PRIVILEGE()        vResetPrivilege()
+
+/**
+ * @brief Make a task unprivileged.
+ *
+ * It must be called from privileged tasks only. Calling it from unprivileged
+ * task will result in a memory protection fault.
+ */
+#define portSWITCH_TO_USER_MODE()    vPortSwitchToUserMode()
 /*-----------------------------------------------------------*/
 
 extern BaseType_t xPortIsTaskPrivileged( void );

portable/GCC/ARM_CM4F/port.c

@@ -521,14 +521,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }

portable/GCC/ARM_CM4F/portmacro.h

@@ -98,8 +98,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/GCC/ARM_CM4_MPU/port.c

@@ -206,6 +206,11 @@ BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) );
  */
 void vResetPrivilege( void ) __attribute__( ( naked ) );
 
+/**
+ * @brief Make a task unprivileged.
+ */
+void vPortSwitchToUserMode( void );
+
 /**
  * @brief Enter critical section.
  */
@@ -312,7 +317,7 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
     }
     else
     {
-        xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG );
+        xMPUSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
         xMPUSettings->ulContext[ 0 ] = portINITIAL_CONTROL_IF_UNPRIVILEGED;
     }
 
@@ -1203,13 +1208,19 @@ void xPortSysTickHandler( void )
     uint32_t ulDummy;
 
     ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
 }
@@ -1384,6 +1395,19 @@ void vResetPrivilege( void ) /* __attribute__ (( naked )) */
 }
 /*-----------------------------------------------------------*/
 
+void vPortSwitchToUserMode( void )
+{
+    /* Load the current task's MPU settings from its TCB. */
+    xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL );
+
+    /* Mark the task as unprivileged. */
+    xTaskMpuSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
+
+    /* Lower the processor's privilege level. */
+    vResetPrivilege();
+}
+/*-----------------------------------------------------------*/
+
 void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
                                 const struct xMEMORY_REGION * const xRegions,
                                 StackType_t * pxBottomOfStack,
@@ -1617,3 +1641,85 @@ BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
 
 #endif /* configASSERT_DEFINED */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM4_MPU/portmacro.h

@@ -190,8 +190,6 @@ typedef unsigned long    UBaseType_t;
 #define portNUM_CONFIGURABLE_REGIONS      ( configTOTAL_MPU_REGIONS - 5UL )
 #define portTOTAL_NUM_REGIONS_IN_TCB      ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus 1 to create space for the stack region. */
 
-#define portSWITCH_TO_USER_MODE()    __asm volatile ( " mrs r0, control \n orr r0, #1 \n msr control, r0 " ::: "r0", "memory" )
-
 typedef struct MPU_REGION_REGISTERS
 {
     uint32_t ulRegionBaseAddress;
@@ -221,7 +219,10 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* configUSE_MPU_WRAPPERS_V1 == 0 */
 
-#define MAX_CONTEXT_SIZE                    52
+#define MAX_CONTEXT_SIZE                    ( 52 )
+
+/* Size of an Access Control List (ACL) entry in bits. */
+#define portACL_ENTRY_SIZE_BITS             ( 32U )
 
 /* Flags used for xMPU_SETTINGS.ulTaskFlags member. */
 #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
@@ -236,6 +237,9 @@ typedef struct MPU_SETTINGS
 
     #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
         xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+        #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+            uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+        #endif
     #endif
 } xMPU_SETTINGS;
 
@@ -270,9 +274,19 @@ typedef struct MPU_SETTINGS
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
@@ -346,24 +360,33 @@ extern void vPortExitCritical( void );
 
 extern BaseType_t xIsPrivileged( void );
 extern void vResetPrivilege( void );
+extern void vPortSwitchToUserMode( void );
 
 /**
  * @brief Checks whether or not the processor is privileged.
  *
  * @return 1 if the processor is already privileged, 0 otherwise.
  */
-#define portIS_PRIVILEGED()      xIsPrivileged()
+#define portIS_PRIVILEGED()          xIsPrivileged()
 
 /**
  * @brief Raise an SVC request to raise privilege.
  */
-#define portRAISE_PRIVILEGE()    __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+#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
  * register.
  */
-#define portRESET_PRIVILEGE()    vResetPrivilege()
+#define portRESET_PRIVILEGE()        vResetPrivilege()
+
+/**
+ * @brief Make a task unprivileged.
+ *
+ * It must be called from privileged tasks only. Calling it from unprivileged
+ * task will result in a memory protection fault.
+ */
+#define portSWITCH_TO_USER_MODE()    vPortSwitchToUserMode()
 /*-----------------------------------------------------------*/
 
 extern BaseType_t xPortIsTaskPrivileged( void );

portable/GCC/ARM_CM55/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM55/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM55_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM55_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM7/r0p1/portmacro.h

@@ -95,9 +95,18 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                         \
-    do { if( xSwitchRequired != pdFALSE ) { traceISR_EXIT_TO_SCHEDULER(); portYIELD(); } \
-         else { traceISR_EXIT(); }                                                       \
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM85/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM85/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ARM_CM85_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/GCC/ARM_CM85_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/GCC/ColdFire_V2/portmacro.h

@@ -105,7 +105,19 @@ extern void vPortClearInterruptMaskFromISR( UBaseType_t );
 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )              do { if( xSwitchRequired != pdFALSE ) { portYIELD(); } } while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 
 /* *INDENT-OFF* */

portable/GCC/NiosII/portmacro.h

@@ -84,9 +84,20 @@ typedef unsigned long    UBaseType_t;
 /*-----------------------------------------------------------*/
 
 extern void vTaskSwitchContext( void );
-#define portYIELD()                                 asm volatile ( "trap" );
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired ) vTaskSwitchContext( ); } while( 0 )
-
+#define portYIELD()    asm volatile ( "trap" );
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            vTaskSwitchContext();                \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 /* Include the port_asm.S file where the Context saving/restoring is defined. */
 __asm__ ( "\n\t.globl    save_context" );

portable/GCC/RISC-V/portmacro.h

@@ -91,9 +91,21 @@ typedef portUBASE_TYPE   TickType_t;
 
 /* Scheduler utilities. */
 extern void vTaskSwitchContext( void );
-#define portYIELD()                                 __asm volatile ( "ecall" );
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired ) vTaskSwitchContext( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portYIELD()                __asm volatile ( "ecall" );
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            vTaskSwitchContext();                \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/GCC/STR75x/portmacro.h

@@ -129,8 +129,13 @@ extern void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM0/port.c

@@ -233,13 +233,19 @@ void xPortSysTickHandler( void )
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }

portable/IAR/ARM_CM0/portmacro.h

@@ -86,9 +86,21 @@ typedef unsigned long    UBaseType_t;
 extern void vPortYield( void );
 #define portNVIC_INT_CTRL     ( ( volatile uint32_t * ) 0xe000ed04 )
 #define portNVIC_PENDSVSET    0x10000000
-#define portYIELD()                                 vPortYield()
-#define portEND_SWITCHING_ISR( xSwitchRequired )    if( xSwitchRequired ) *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portYIELD()                vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired )        \
+    do                                                  \
+    {                                                   \
+        if( xSwitchRequired != pdFALSE )                \
+        {                                               \
+            traceISR_EXIT_TO_SCHEDULER();               \
+            *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET \
+        }                                               \
+        else                                            \
+        {                                               \
+            traceISR_EXIT();                            \
+        }                                               \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 

portable/IAR/ARM_CM23/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM23/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM23_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM23_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM3/port.c

@@ -355,14 +355,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }

portable/IAR/ARM_CM3/portmacro.h

@@ -100,8 +100,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM33/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM33/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM33_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM33_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM35P/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM35P/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM35P_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM35P_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM4F/port.c

@@ -399,14 +399,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }

portable/IAR/ARM_CM4F/portmacro.h

@@ -99,8 +99,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM4F_MPU/port.c

@@ -283,6 +283,11 @@ extern void vPortRestoreContextOfFirstTask( void ) PRIVILEGED_FUNCTION;
  */
 BaseType_t xPortIsTaskPrivileged( void ) PRIVILEGED_FUNCTION;
 
+/**
+ * @brief Make a task unprivileged.
+ */
+void vPortSwitchToUserMode( void );
+
 /*-----------------------------------------------------------*/
 
 /* Each task maintains its own interrupt status in the critical nesting
@@ -318,7 +323,7 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
     }
     else
     {
-        xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG );
+        xMPUSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
         xMPUSettings->ulContext[ 0 ] = portINITIAL_CONTROL_IF_UNPRIVILEGED;
     }
 
@@ -741,6 +746,19 @@ BaseType_t xPortIsTaskPrivileged( void ) /* PRIVILEGED_FUNCTION */
 }
 /*-----------------------------------------------------------*/
 
+void vPortSwitchToUserMode( void )
+{
+    /* Load the current task's MPU settings from its TCB. */
+    xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL );
+
+    /* Mark the task as unprivileged. */
+    xTaskMpuSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
+
+    /* Lower the processor's privilege level. */
+    vResetPrivilege();
+}
+/*-----------------------------------------------------------*/
+
 /*
  * See header file for description.
  */
@@ -987,14 +1005,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }
@@ -1332,3 +1357,85 @@ BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
 
 #endif /* configASSERT_DEFINED */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM4F_MPU/portmacro.h

@@ -192,8 +192,6 @@ typedef unsigned long    UBaseType_t;
 #define portNUM_CONFIGURABLE_REGIONS      ( configTOTAL_MPU_REGIONS - 5UL )
 #define portTOTAL_NUM_REGIONS_IN_TCB      ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus 1 to create space for the stack region. */
 
-#define portSWITCH_TO_USER_MODE()    __asm volatile ( " mrs r0, control \n orr r0, r0, #1 \n msr control, r0 " ::: "r0", "memory" )
-
 typedef struct MPU_REGION_REGISTERS
 {
     uint32_t ulRegionBaseAddress;
@@ -223,7 +221,10 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* configUSE_MPU_WRAPPERS_V1 == 0 */
 
-#define MAX_CONTEXT_SIZE                    52
+#define MAX_CONTEXT_SIZE                    ( 52 )
+
+/* Size of an Access Control List (ACL) entry in bits. */
+#define portACL_ENTRY_SIZE_BITS             ( 32U )
 
 /* Flags used for xMPU_SETTINGS.ulTaskFlags member. */
 #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
@@ -238,6 +239,9 @@ typedef struct MPU_SETTINGS
 
     #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
         xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+        #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+            uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+        #endif
     #endif
 } xMPU_SETTINGS;
 
@@ -268,8 +272,20 @@ typedef struct MPU_SETTINGS
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD_WITHIN_API( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD_WITHIN_API();              \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Architecture specific optimisations. */
@@ -372,24 +388,33 @@ portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
 
 extern BaseType_t xIsPrivileged( void );
 extern void vResetPrivilege( void );
+extern void vPortSwitchToUserMode( void );
 
 /**
  * @brief Checks whether or not the processor is privileged.
  *
  * @return 1 if the processor is already privileged, 0 otherwise.
  */
-#define portIS_PRIVILEGED()      xIsPrivileged()
+#define portIS_PRIVILEGED()          xIsPrivileged()
 
 /**
  * @brief Raise an SVC request to raise privilege.
  */
-#define portRAISE_PRIVILEGE()    __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );
+#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
  * register.
  */
-#define portRESET_PRIVILEGE()    vResetPrivilege()
+#define portRESET_PRIVILEGE()        vResetPrivilege()
+
+/**
+ * @brief Make a task unprivileged.
+ *
+ * It must be called from privileged tasks only. Calling it from unprivileged
+ * task will result in a memory protection fault.
+ */
+#define portSWITCH_TO_USER_MODE()    vPortSwitchToUserMode()
 /*-----------------------------------------------------------*/
 
 extern BaseType_t xPortIsTaskPrivileged( void );

portable/IAR/ARM_CM55/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM55/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM55_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM55_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM7/r0p1/port.c

@@ -387,14 +387,21 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }

portable/IAR/ARM_CM7/r0p1/portmacro.h

@@ -99,8 +99,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM85/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM85/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/ARM_CM85_NTZ/non_secure/port.c

@@ -977,13 +977,19 @@ void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
@@ -2019,3 +2025,85 @@ BaseType_t xPortIsInsideInterrupt( void )
 
 #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
 /*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/IAR/ARM_CM85_NTZ/non_secure/portmacrocommon.h

@@ -287,6 +287,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
     #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
     #define portTASK_IS_PRIVILEGED_FLAG         ( 1UL << 1UL )
 
+/* Size of an Access Control List (ACL) entry in bits. */
+    #define portACL_ENTRY_SIZE_BITS             ( 32U )
+
     typedef struct MPU_SETTINGS
     {
         uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
@@ -296,6 +299,9 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 
         #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
             xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+            #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+            #endif
         #endif
     } xMPU_SETTINGS;
 
@@ -331,9 +337,19 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portYIELD()    vPortYield()
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/IAR/AtmelSAM7S64/portmacro.h

@@ -97,8 +97,13 @@ __arm __interwork void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/IAR/AtmelSAM9XE/portmacro.h

@@ -100,8 +100,13 @@ __arm __interwork void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/IAR/LPC2000/portmacro.h

@@ -100,8 +100,13 @@ __arm __interwork void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/IAR/RISC-V/portmacro.h

@@ -93,9 +93,21 @@ typedef portUBASE_TYPE   TickType_t;
 
 /* Scheduler utilities. */
 extern void vTaskSwitchContext( void );
-#define portYIELD()                                 __asm volatile ( "ecall" );
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired ) vTaskSwitchContext( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portYIELD()                __asm volatile ( "ecall" );
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            vTaskSwitchContext();                \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/IAR/STR71x/portmacro.h

@@ -101,8 +101,13 @@ __arm __interwork void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/IAR/STR75x/portmacro.h

@@ -98,8 +98,13 @@ __arm __interwork void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/IAR/STR91x/portmacro.h

@@ -100,8 +100,13 @@ __arm __interwork void vPortExitCritical( void );
                                                  \
         if( xSwitchRequired )                    \
         {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
             vTaskSwitchContext();                \
         }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
     }
 /*-----------------------------------------------------------*/
 

portable/MPLAB/PIC32MEC14xx/portmacro.h

@@ -240,7 +240,19 @@ extern volatile UBaseType_t uxInterruptNesting;
 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )              do { if( xSwitchRequired ) { portYIELD(); } } while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 /* Required by the kernel aware debugger. */
 #ifdef __DEBUG

portable/MPLAB/PIC32MX/portmacro.h

@@ -191,7 +191,19 @@ extern volatile UBaseType_t uxInterruptNesting;
 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )              do { if( xSwitchRequired ) { portYIELD(); } } while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 /* Required by the kernel aware debugger. */
 #ifdef __DEBUG

portable/MPLAB/PIC32MZ/portmacro.h

@@ -203,7 +203,19 @@ extern volatile UBaseType_t uxInterruptNesting;
 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )              do { if( xSwitchRequired ) { portYIELD(); } } while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
 
 /* Required by the kernel aware debugger. */
 #ifdef __DEBUG

portable/MikroC/ARM_CM4F/port.c

@@ -509,14 +509,21 @@ void xPortSysTickHandler( void ) iv IVT_INT_SysTick ics ICS_AUTO
      * known - therefore the slightly faster portDISABLE_INTERRUPTS() function is
      * used in place of portSET_INTERRUPT_MASK_FROM_ISR(). */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }

portable/MikroC/ARM_CM4F/portmacro.h

@@ -99,8 +99,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/RVDS/ARM_CM0/port.c

@@ -352,13 +352,19 @@ void xPortSysTickHandler( void )
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }

portable/RVDS/ARM_CM0/portmacro.h

@@ -86,9 +86,19 @@ extern void vPortYield( void );
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portYIELD()                vPortYield()
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 

portable/RVDS/ARM_CM3/port.c

@@ -449,14 +449,21 @@ void xPortSysTickHandler( void )
      * known - therefore the slightly faster vPortRaiseBASEPRI() function is used
      * in place of portSET_INTERRUPT_MASK_FROM_ISR(). */
     vPortRaiseBASEPRI();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
 
     vPortClearBASEPRIFromISR();

portable/RVDS/ARM_CM3/portmacro.h

@@ -99,8 +99,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/RVDS/ARM_CM4F/port.c

@@ -545,14 +545,21 @@ void xPortSysTickHandler( void )
      * known - therefore the slightly faster vPortRaiseBASEPRI() function is used
      * in place of portSET_INTERRUPT_MASK_FROM_ISR(). */
     vPortRaiseBASEPRI();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
 
     vPortClearBASEPRIFromISR();

portable/RVDS/ARM_CM4F/portmacro.h

@@ -99,8 +99,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/RVDS/ARM_CM4_MPU/port.c

@@ -219,6 +219,11 @@ BaseType_t xIsPrivileged( void );
  */
 void vResetPrivilege( void );
 
+/**
+ * @brief Make a task unprivileged.
+ */
+void vPortSwitchToUserMode( void );
+
 /**
  * @brief Enter critical section.
  */
@@ -312,7 +317,7 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
     }
     else
     {
-        xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG );
+        xMPUSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
         xMPUSettings->ulContext[ 0 ] = portINITIAL_CONTROL_IF_UNPRIVILEGED;
     }
 
@@ -1185,13 +1190,19 @@ void xPortSysTickHandler( void )
     uint32_t ulDummy;
 
     ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
 }
@@ -1213,19 +1224,6 @@ __weak void vSetupTimerInterrupt( void )
 }
 /*-----------------------------------------------------------*/
 
-__asm void vPortSwitchToUserMode( void )
-{
-/* *INDENT-OFF* */
-    PRESERVE8
-
-    mrs r0, control
-    orr r0, #1
-    msr control, r0
-    bx r14
-/* *INDENT-ON* */
-}
-/*-----------------------------------------------------------*/
-
 __asm void vPortEnableVFP( void )
 {
 /* *INDENT-OFF* */
@@ -1343,10 +1341,10 @@ __asm BaseType_t xIsPrivileged( void )
     PRESERVE8
 
     mrs r0, control /* r0 = CONTROL. */
-    tst r0, #1     /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
+    tst r0, #1      /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
     ite ne
-    movne r0, #0   /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
-    moveq r0, #1   /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
+    movne r0, #0    /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
+    moveq r0, #1    /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
     bx lr           /* Return. */
 /* *INDENT-ON* */
 }
@@ -1357,14 +1355,27 @@ __asm void vResetPrivilege( void )
 /* *INDENT-OFF* */
     PRESERVE8
 
-    mrs r0, control /* r0 = CONTROL. */
-    orrs r0, #1    /* r0 = r0 | 1. */
-    msr control, r0 /* CONTROL = r0. */
-    bx lr           /* Return. */
+    mrs r0, control     /* r0 = CONTROL. */
+    orrs r0, #1         /* r0 = r0 | 1. */
+    msr control, r0     /* CONTROL = r0. */
+    bx lr               /* Return. */
 /* *INDENT-ON* */
 }
 /*-----------------------------------------------------------*/
 
+void vPortSwitchToUserMode( void )
+{
+    /* Load the current task's MPU settings from its TCB. */
+    xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL );
+
+    /* Mark the task as unprivileged. */
+    xTaskMpuSettings->ulTaskFlags &= ( ~( portTASK_IS_PRIVILEGED_FLAG ) );
+
+    /* Lower the processor's privilege level. */
+    vResetPrivilege();
+}
+/*-----------------------------------------------------------*/
+
 void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
                                 const struct xMEMORY_REGION * const xRegions,
                                 StackType_t * pxBottomOfStack,
@@ -1598,3 +1609,86 @@ __asm uint32_t prvPortGetIPSR( void )
     }
 
 #endif /* configASSERT_DEFINED */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+    {
+        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+        xMPU_SETTINGS * xTaskMpuSettings;
+
+        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );
+
+        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
+    }
+
+#endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
+            BaseType_t xAccessGranted = pdFALSE;
+            const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */
+
+            ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
+            ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );
+
+            if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
+            {
+                xAccessGranted = pdTRUE;
+            }
+            else
+            {
+                if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
+                {
+                    xAccessGranted = pdTRUE;
+                }
+            }
+
+            return xAccessGranted;
+        }
+
+    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
+        {
+            ( void ) lInternalIndexOfKernelObject;
+
+            /* If Access Control List feature is not used, all the tasks have
+             * access to all the kernel objects. */
+            return pdTRUE;
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+/*-----------------------------------------------------------*/

portable/RVDS/ARM_CM4_MPU/portmacro.h

@@ -189,9 +189,6 @@ typedef unsigned long    UBaseType_t;
 #define portNUM_CONFIGURABLE_REGIONS      ( configTOTAL_MPU_REGIONS - 5UL )
 #define portTOTAL_NUM_REGIONS_IN_TCB      ( portNUM_CONFIGURABLE_REGIONS + 1 ) /* Plus 1 to create space for the stack region. */
 
-void vPortSwitchToUserMode( void );
-#define portSWITCH_TO_USER_MODE()    vPortSwitchToUserMode()
-
 typedef struct MPU_REGION_REGISTERS
 {
     uint32_t ulRegionBaseAddress;
@@ -221,7 +218,10 @@ typedef struct MPU_REGION_SETTINGS
 
 #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-#define MAX_CONTEXT_SIZE                    52
+#define MAX_CONTEXT_SIZE                    ( 52 )
+
+/* Size of an Access Control List (ACL) entry in bits. */
+#define portACL_ENTRY_SIZE_BITS             ( 32U )
 
 /* Flags used for xMPU_SETTINGS.ulTaskFlags member. */
 #define portSTACK_FRAME_HAS_PADDING_FLAG    ( 1UL << 0UL )
@@ -236,6 +236,9 @@ typedef struct MPU_SETTINGS
 
     #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
         xSYSTEM_CALL_STACK_INFO xSystemCallStackInfo;
+        #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+            uint32_t ulAccessControlList[ ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE / portACL_ENTRY_SIZE_BITS ) + 1 ];
+        #endif
     #endif
 } xMPU_SETTINGS;
 
@@ -274,9 +277,19 @@ typedef struct MPU_SETTINGS
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )                                 \
-    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } \
-    while( 0 )
+#define portEND_SWITCHING_ISR( xSwitchRequired )            \
+    do                                                      \
+    {                                                       \
+        if( xSwitchRequired )                               \
+        {                                                   \
+            traceISR_EXIT_TO_SCHEDULER();                   \
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+        }                                                   \
+        else                                                \
+        {                                                   \
+            traceISR_EXIT();                                \
+        }                                                   \
+    } while( 0 )
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
@@ -340,24 +353,33 @@ extern void vPortExitCritical( void );
 
 extern BaseType_t xIsPrivileged( void );
 extern void vResetPrivilege( void );
+extern void vPortSwitchToUserMode( void );
 
 /**
  * @brief Checks whether or not the processor is privileged.
  *
  * @return 1 if the processor is already privileged, 0 otherwise.
  */
-#define portIS_PRIVILEGED()      xIsPrivileged()
+#define portIS_PRIVILEGED()          xIsPrivileged()
 
 /**
  * @brief Raise an SVC request to raise privilege.
  */
-#define portRAISE_PRIVILEGE()    __asm { svc portSVC_RAISE_PRIVILEGE }
+#define portRAISE_PRIVILEGE()        __asm { svc portSVC_RAISE_PRIVILEGE }
 
 /**
  * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
  * register.
  */
-#define portRESET_PRIVILEGE()    vResetPrivilege()
+#define portRESET_PRIVILEGE()        vResetPrivilege()
+
+/**
+ * @brief Make a task unprivileged.
+ *
+ * It must be called from privileged tasks only. Calling it from unprivileged
+ * task will result in a memory protection fault.
+ */
+#define portSWITCH_TO_USER_MODE()    vPortSwitchToUserMode()
 /*-----------------------------------------------------------*/
 
 extern BaseType_t xPortIsTaskPrivileged( void );

portable/RVDS/ARM_CM7/r0p1/port.c

@@ -531,14 +531,21 @@ void xPortSysTickHandler( void )
      * known - therefore the slightly faster vPortRaiseBASEPRI() function is used
      * in place of portSET_INTERRUPT_MASK_FROM_ISR(). */
     vPortRaiseBASEPRI();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
+
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
 
     vPortClearBASEPRIFromISR();

portable/RVDS/ARM_CM7/r0p1/portmacro.h

@@ -99,8 +99,20 @@ typedef unsigned long    UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD( ); } while( 0 )
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired ) \
+    do                                           \
+    {                                            \
+        if( xSwitchRequired != pdFALSE )         \
+        {                                        \
+            traceISR_EXIT_TO_SCHEDULER();        \
+            portYIELD();                         \
+        }                                        \
+        else                                     \
+        {                                        \
+            traceISR_EXIT();                     \
+        }                                        \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */

portable/Tasking/ARM_CM4F/port.c

@@ -246,12 +246,18 @@ void SysTick_Handler( void )
     uint32_t ulDummy;
 
     ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
 }

portable/Tasking/ARM_CM4F/portmacro.h

@@ -86,10 +86,22 @@ typedef unsigned long    UBaseType_t;
 extern void vPortYield( void );
 #define portNVIC_INT_CTRL     ( ( volatile uint32_t * ) 0xe000ed04 )
 #define portNVIC_PENDSVSET    0x10000000
-#define portYIELD()                                 vPortYield()
+#define portYIELD()                vPortYield()
 
-#define portEND_SWITCHING_ISR( xSwitchRequired )    if( xSwitchRequired ) *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET
-#define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
+#define portEND_SWITCHING_ISR( xSwitchRequired )         \
+    do                                                   \
+    {                                                    \
+        if( xSwitchRequired != pdFALSE )                 \
+        {                                                \
+            traceISR_EXIT_TO_SCHEDULER();                \
+            *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET; \
+        }                                                \
+        else                                             \
+        {                                                \
+            traceISR_EXIT();                             \
+        }                                                \
+    } while( 0 )
+#define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 

portable/ThirdParty/CDK/T-HEAD_CK802/port.c

@@ -125,11 +125,17 @@ void vPortExitCritical( void )
         portLONG ulDummy;
 
         ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+        traceISR_ENTER();
         {
             if( xTaskIncrementTick() != pdFALSE )
             {
+                traceISR_EXIT_TO_SCHEDULER();
                 portYIELD_FROM_ISR( pdTRUE );
             }
+            else
+            {
+                traceISR_EXIT();
+            }
         }
         portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
     }