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Enhance heap_4.c to prevent blocks accidentally being freed twice, or blocks that don't have a valid block link descriptor being freed.

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Update the Cortex-A9 port to include asserts if an ISR safe FreeRTOS function is called from an interrupt that has a higher logical priority than configMAX_SYSCALL_INTERRUPT_PRIORITY (or whatever the CA9 equivalent is called), and also assert if the binary point is not set correctly.
pull/4/head
Richard Barry 12 years ago
parent 4894955a08
commit 0f6b0d3a59
5 changed files with 372 additions and 201 deletions
Show Stats Download Patch File Download Diff File

67
FreeRTOS/Source/portable/IAR/ARM_CA9/port.c
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@ -143,6 +143,10 @@ context. */
#define portINTERRUPT_ENABLE_BIT ( 0x80UL ) #define portINTERRUPT_ENABLE_BIT ( 0x80UL )
#define portTHUMB_MODE_ADDRESS ( 0x01UL ) #define portTHUMB_MODE_ADDRESS ( 0x01UL )
/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
point is zero. */
#define portBINARY_POINT_BITS ( ( unsigned char ) 0x03 )
/* Masks all bits in the APSR other than the mode bits. */ /* Masks all bits in the APSR other than the mode bits. */
#define portAPSR_MODE_BITS_MASK ( 0x1F ) #define portAPSR_MODE_BITS_MASK ( 0x1F )
@ -177,11 +181,6 @@ the scheduler starts. As it is stored as part of the task context it will
automatically be set to 0 when the first task is started. */ automatically be set to 0 when the first task is started. */
volatile unsigned long ulCriticalNesting = 9999UL; volatile unsigned long ulCriticalNesting = 9999UL;
/* The value to be written to the interrupt controllers priority mask register
to mask interrupts that can use the FreeRTOS API without masking higher priority
interrupts. */
const unsigned long ulPortAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then /* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then
a floating point context must be saved and restored for the task. */ a floating point context must be saved and restored for the task. */
unsigned long ulPortTaskHasFPUContext = pdFALSE; unsigned long ulPortTaskHasFPUContext = pdFALSE;
@ -193,6 +192,7 @@ unsigned long ulPortYieldRequired = pdFALSE;
if the nesting depth is 0. */ if the nesting depth is 0. */
unsigned long ulPortInterruptNesting = 0UL; unsigned long ulPortInterruptNesting = 0UL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -281,6 +281,13 @@ unsigned long ulAPSR;
configASSERT( ulAPSR != portAPSR_USER_MODE ); configASSERT( ulAPSR != portAPSR_USER_MODE );
if( ulAPSR != portAPSR_USER_MODE ) if( ulAPSR != portAPSR_USER_MODE )
{
/* Only continue if the binary point value is set to its lowest possible
setting. See the comments in vPortValidateInterruptPriority() below for
more information. */
configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
{ {
/* Start the timer that generates the tick ISR. */ /* Start the timer that generates the tick ISR. */
configSETUP_TICK_INTERRUPT(); configSETUP_TICK_INTERRUPT();
@ -288,9 +295,11 @@ unsigned long ulAPSR;
__enable_irq(); __enable_irq();
vPortRestoreTaskContext(); vPortRestoreTaskContext();
} }
}
/* Will only get here if xTaskStartScheduler() was called with the CPU in /* Will only get here if xTaskStartScheduler() was called with the CPU in
a non-privileged mode. */ a non-privileged mode or the binary point register was not set to its lowest
possible value. */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -340,7 +349,7 @@ void FreeRTOS_Tick_Handler( void )
handler runs at the lowest priority, so interrupts cannot already be masked, handler runs at the lowest priority, so interrupts cannot already be masked,
so there is no need to save and restore the current mask value. */ so there is no need to save and restore the current mask value. */
__disable_irq(); __disable_irq();
portICCPMR_PRIORITY_MASK_REGISTER = ulPortAPIPriorityMask; portICCPMR_PRIORITY_MASK_REGISTER = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
__asm( "DSB \n" __asm( "DSB \n"
"ISB \n" ); "ISB \n" );
__enable_irq(); __enable_irq();
@ -383,7 +392,7 @@ unsigned long ulPortSetInterruptMask( void )
unsigned long ulReturn; unsigned long ulReturn;
__disable_irq(); __disable_irq();
if( portICCPMR_PRIORITY_MASK_REGISTER == ulPortAPIPriorityMask ) if( portICCPMR_PRIORITY_MASK_REGISTER == ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
{ {
/* Interrupts were already masked. */ /* Interrupts were already masked. */
ulReturn = pdTRUE; ulReturn = pdTRUE;
@ -391,7 +400,7 @@ unsigned long ulReturn;
else else
{ {
ulReturn = pdFALSE; ulReturn = pdFALSE;
portICCPMR_PRIORITY_MASK_REGISTER = ulPortAPIPriorityMask; portICCPMR_PRIORITY_MASK_REGISTER = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
__asm( "DSB \n" __asm( "DSB \n"
"ISB \n" ); "ISB \n" );
} }
@ -399,5 +408,45 @@ unsigned long ulReturn;
return ulReturn; return ulReturn;
} }
/*-----------------------------------------------------------*/
#if( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void )
{
/* The following assertion will fail if a service routine (ISR) for
an interrupt that has been assigned a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
function. ISR safe FreeRTOS API functions must *only* be called
from interrupts that have been assigned a priority at or below
configMAX_SYSCALL_INTERRUPT_PRIORITY.
Numerically low interrupt priority numbers represent logically high
interrupt priorities, therefore the priority of the interrupt must
be set to a value equal to or numerically *higher* than
configMAX_SYSCALL_INTERRUPT_PRIORITY.
FreeRTOS maintains separate thread and ISR API functions to ensure
interrupt entry is as fast and simple as possible.
The following links provide detailed information:
http://www.freertos.org/RTOS-Cortex-M3-M4.html
http://www.freertos.org/FAQHelp.html */
configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
/* Priority grouping: The interrupt controller (GIC) allows the bits
that define each interrupt's priority to be split between bits that
define the interrupt's pre-emption priority bits and bits that define
the interrupt's sub-priority. For simplicity all bits must be defined
to be pre-emption priority bits. The following assertion will fail if
this is not the case (if some bits represent a sub-priority).
The priority grouping is configured by the GIC's binary point register
(ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest
possible value (which may be above 0). */
configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
}
#endif /* configASSERT_DEFINED */

150
FreeRTOS/Source/portable/IAR/ARM_CA9/portmacro.h
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@ -77,13 +77,14 @@
/* IAR includes. */ /* IAR includes. */
#ifdef __ICCARM__ #ifdef __ICCARM__
#include <intrinsics.h> #include <intrinsics.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Port specific definitions. * Port specific definitions.
* *
* The settings in this file configure FreeRTOS correctly for the given hardware * The settings in this file configure FreeRTOS correctly for the given hardware
@ -93,83 +94,83 @@ extern "C" {
*----------------------------------------------------------- *-----------------------------------------------------------
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE unsigned long #define portSTACK_TYPE unsigned long
#define portBASE_TYPE portLONG #define portBASE_TYPE portLONG
typedef unsigned long portTickType; typedef unsigned long portTickType;
#define portMAX_DELAY ( portTickType ) 0xffffffff #define portMAX_DELAY ( portTickType ) 0xffffffff
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) #define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
/* Called at the end of an ISR that can cause a context switch. */ /* Called at the end of an ISR that can cause a context switch. */
#define portEND_SWITCHING_ISR( xSwitchRequired )\ #define portEND_SWITCHING_ISR( xSwitchRequired )\
{ \ { \
extern unsigned long ulPortYieldRequired; \ extern unsigned long ulPortYieldRequired; \
\ \
if( xSwitchRequired != pdFALSE ) \ if( xSwitchRequired != pdFALSE ) \
{ \ { \
ulPortYieldRequired = pdTRUE; \ ulPortYieldRequired = pdTRUE; \
} \ } \
} }
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x ) #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
#define portYIELD() __asm( "SWI 0" ); #define portYIELD() __asm( "SWI 0" );
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Critical section control * Critical section control
*----------------------------------------------------------*/ *----------------------------------------------------------*/
extern void vPortEnterCritical( void ); extern void vPortEnterCritical( void );
extern void vPortExitCritical( void ); extern void vPortExitCritical( void );
extern unsigned long ulPortSetInterruptMask( void ); extern unsigned long ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( unsigned long ulNewMaskValue ); extern void vPortClearInterruptMask( unsigned long ulNewMaskValue );
/* These macros do not globally disable/enable interrupts. They do mask off /* These macros do not globally disable/enable interrupts. They do mask off
interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */ interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
#define portENTER_CRITICAL() vPortEnterCritical(); #define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical(); #define portEXIT_CRITICAL() vPortExitCritical();
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask() #define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 ) #define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 )
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask() #define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x) #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are /* Task function macros as described on the FreeRTOS.org WEB site. These are
not required for this port but included in case common demo code that uses these not required for this port but included in case common demo code that uses these
macros is used. */ macros is used. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/* Prototype of the FreeRTOS tick handler. This must be installed as the /* Prototype of the FreeRTOS tick handler. This must be installed as the
handler for whichever peripheral is used to generate the RTOS tick. */ handler for whichever peripheral is used to generate the RTOS tick. */
void FreeRTOS_Tick_Handler( void ); void FreeRTOS_Tick_Handler( void );
/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU() /* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
before any floating point instructions are executed. */ before any floating point instructions are executed. */
void vPortTaskUsesFPU( void ); void vPortTaskUsesFPU( void );
#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU() #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
#define portLOWEST_INTERRUPT_PRIORITY ( ( ( unsigned long ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL ) #define portLOWEST_INTERRUPT_PRIORITY ( ( ( unsigned long ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL ) #define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
/* Architecture specific optimisations. */ /* Architecture specific optimisations. */
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
@ -179,29 +180,42 @@ void vPortTaskUsesFPU( void );
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __CLZ( uxReadyPriorities ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __CLZ( uxReadyPriorities ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
#ifdef __cplusplus #ifdef configASSERT
} void vPortValidateInterruptPriority( void );
#endif #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#else
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
#endif
#endif /* __ICCARM__ */ #define portNOP() __asm volatile( "NOP" )
#ifdef __cplusplus
}
#endif
#define portNOP() __asm volatile( "NOP" ) #endif /* __ICCARM__ */
/* The number of bits to shift for an interrupt priority is dependent on the /* The number of bits to shift for an interrupt priority is dependent on the
number of bits implemented by the interrupt controller. */ number of bits implemented by the interrupt controller. */
#if configUNIQUE_INTERRUPT_PRIORITIES == 16 #if configUNIQUE_INTERRUPT_PRIORITIES == 16
#define portPRIORITY_SHIFT 4 #define portPRIORITY_SHIFT 4
#define portMAX_BINARY_POINT_VALUE 3
#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 #elif configUNIQUE_INTERRUPT_PRIORITIES == 32
#define portPRIORITY_SHIFT 3 #define portPRIORITY_SHIFT 3
#define portMAX_BINARY_POINT_VALUE 2
#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 #elif configUNIQUE_INTERRUPT_PRIORITIES == 64
#define portPRIORITY_SHIFT 2 #define portPRIORITY_SHIFT 2
#define portMAX_BINARY_POINT_VALUE 1
#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 #elif configUNIQUE_INTERRUPT_PRIORITIES == 128
#define portPRIORITY_SHIFT 1 #define portPRIORITY_SHIFT 1
#define portMAX_BINARY_POINT_VALUE 0
#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 #elif configUNIQUE_INTERRUPT_PRIORITIES == 256
#define portPRIORITY_SHIFT 0 #define portPRIORITY_SHIFT 0
#define portMAX_BINARY_POINT_VALUE 0
#else #else
#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
#endif #endif
@ -210,12 +224,16 @@ number of bits implemented by the interrupt controller. */
#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) #define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 )
#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) #define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C )
#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) #define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 )
#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 )
#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 )
#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) #define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET )
#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile unsigned long * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) #define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile unsigned char * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) )
#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) #define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET )
#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) #define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET )
#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) #define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET )
#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile unsigned long * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) )
#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile unsigned char * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */

80
FreeRTOS/Source/portable/MemMang/heap_4.c
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@ -95,8 +95,11 @@ task.h is included from an application file. */
/* Block sizes must not get too small. */ /* Block sizes must not get too small. */
#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) ) #define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
/* Assumes 8bit bytes! */
#define heapBITS_PER_BYTE ( ( size_t ) 8 )
/* A few bytes might be lost to byte aligning the heap start address. */ /* A few bytes might be lost to byte aligning the heap start address. */
#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT ) #define heapADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
/* Allocate the memory for the heap. */ /* Allocate the memory for the heap. */
static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]; static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
@ -132,16 +135,20 @@ block must by correctly byte aligned. */
static const unsigned short heapSTRUCT_SIZE = ( ( sizeof ( xBlockLink ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK ); static const unsigned short heapSTRUCT_SIZE = ( ( sizeof ( xBlockLink ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
/* Ensure the pxEnd pointer will end up on the correct byte alignment. */ /* Ensure the pxEnd pointer will end up on the correct byte alignment. */
static const size_t xTotalHeapSize = ( ( size_t ) configADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK ); static const size_t xTotalHeapSize = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
/* Create a couple of list links to mark the start and end of the list. */ /* Create a couple of list links to mark the start and end of the list. */
static xBlockLink xStart, *pxEnd = NULL; static xBlockLink xStart, *pxEnd = NULL;
/* Keeps track of the number of free bytes remaining, but says nothing about /* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */ fragmentation. */
static size_t xFreeBytesRemaining = ( ( size_t ) configADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK ); static size_t xFreeBytesRemaining = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ /* Gets set to the top bit of an size_t type. When this bit in the xBlockSize
member of an xBlockLink structure is set then the block belongs to the
application. When the bit is free the block is still part of the free heap
space. */
static size_t xBlockAllocatedBit = 0;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -159,14 +166,20 @@ void *pvReturn = NULL;
prvHeapInit(); prvHeapInit();
} }
/* Check the requested block size is not so large that the top bit is
set. The top bit of the block size member of the xBlockLink structure
is used to determine who owns the block - the application or the
kernel, so it must be free. */
if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
{
/* The wanted size is increased so it can contain a xBlockLink /* The wanted size is increased so it can contain a xBlockLink
structure in addition to the requested amount of bytes. */ structure in addition to the requested amount of bytes. */
if( xWantedSize > 0 ) if( xWantedSize > 0 )
{ {
xWantedSize += heapSTRUCT_SIZE; xWantedSize += heapSTRUCT_SIZE;
/* Ensure that blocks are always aligned to the required number of /* Ensure that blocks are always aligned to the required number
bytes. */ of bytes. */
if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
{ {
/* Byte alignment required. */ /* Byte alignment required. */
@ -174,10 +187,10 @@ void *pvReturn = NULL;
} }
} }
if( ( xWantedSize > 0 ) && ( xWantedSize < xTotalHeapSize ) ) if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
{ {
/* Traverse the list from the start (lowest address) block until one /* Traverse the list from the start (lowest address) block until
of adequate size is found. */ one of adequate size is found. */
pxPreviousBlock = &xStart; pxPreviousBlock = &xStart;
pxBlock = xStart.pxNextFreeBlock; pxBlock = xStart.pxNextFreeBlock;
while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
@ -186,28 +199,30 @@ void *pvReturn = NULL;
pxBlock = pxBlock->pxNextFreeBlock; pxBlock = pxBlock->pxNextFreeBlock;
} }
/* If the end marker was reached then a block of adequate size was /* If the end marker was reached then a block of adequate size
not found. */ was not found. */
if( pxBlock != pxEnd ) if( pxBlock != pxEnd )
{ {
/* Return the memory space - jumping over the xBlockLink structure /* Return the memory space pointed to - jumping over the
at its start. */ xBlockLink structure at its start. */
pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE ); pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
/* This block is being returned for use so must be taken out of /* This block is being returned for use so must be taken out
the list of free blocks. */ of the list of free blocks. */
pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
/* If the block is larger than required it can be split into two. */ /* If the block is larger than required it can be split into
two. */
if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
{ {
/* This block is to be split into two. Create a new block /* This block is to be split into two. Create a new
following the number of bytes requested. The void cast is block following the number of bytes requested. The void
used to prevent byte alignment warnings from the compiler. */ cast is used to prevent byte alignment warnings from the
compiler. */
pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize ); pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
/* Calculate the sizes of two blocks split from the single /* Calculate the sizes of two blocks split from the
block. */ single block. */
pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
pxBlock->xBlockSize = xWantedSize; pxBlock->xBlockSize = xWantedSize;
@ -216,6 +231,12 @@ void *pvReturn = NULL;
} }
xFreeBytesRemaining -= pxBlock->xBlockSize; xFreeBytesRemaining -= pxBlock->xBlockSize;
/* The block is being returned - it is allocated and owned
by the application and has no "next" block. */
pxBlock->xBlockSize |= xBlockAllocatedBit;
pxBlock->pxNextFreeBlock = NULL;
}
} }
} }
} }
@ -249,6 +270,18 @@ xBlockLink *pxLink;
/* This casting is to keep the compiler from issuing warnings. */ /* This casting is to keep the compiler from issuing warnings. */
pxLink = ( void * ) puc; pxLink = ( void * ) puc;
/* Check the block is actually allocated. */
configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
configASSERT( pxLink->pxNextFreeBlock == NULL );
if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
{
if( pxLink->pxNextFreeBlock == NULL )
{
/* The block is being returned to the heap - it is no longer
allocated. */
pxLink->xBlockSize &= ~xBlockAllocatedBit;
vTaskSuspendAll(); vTaskSuspendAll();
{ {
/* Add this block to the list of free blocks. */ /* Add this block to the list of free blocks. */
@ -257,6 +290,8 @@ xBlockLink *pxLink;
} }
xTaskResumeAll(); xTaskResumeAll();
} }
}
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -302,6 +337,9 @@ unsigned char *pucHeapEnd, *pucAlignedHeap;
/* The heap now contains pxEnd. */ /* The heap now contains pxEnd. */
xFreeBytesRemaining -= heapSTRUCT_SIZE; xFreeBytesRemaining -= heapSTRUCT_SIZE;
/* Work out the position of the top bit in a size_t variable. */
xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

77
FreeRTOS/Source/portable/RVDS/ARM_CA9/port.c
Unescape Escape View File

@ -123,14 +123,19 @@
number of bits implemented by the interrupt controller. */ number of bits implemented by the interrupt controller. */
#if configUNIQUE_INTERRUPT_PRIORITIES == 16 #if configUNIQUE_INTERRUPT_PRIORITIES == 16
#define portPRIORITY_SHIFT 4 #define portPRIORITY_SHIFT 4
#define portMAX_BINARY_POINT_VALUE 3
#elif configUNIQUE_INTERRUPT_PRIORITIES == 32 #elif configUNIQUE_INTERRUPT_PRIORITIES == 32
#define portPRIORITY_SHIFT 3 #define portPRIORITY_SHIFT 3
#define portMAX_BINARY_POINT_VALUE 2
#elif configUNIQUE_INTERRUPT_PRIORITIES == 64 #elif configUNIQUE_INTERRUPT_PRIORITIES == 64
#define portPRIORITY_SHIFT 2 #define portPRIORITY_SHIFT 2
#define portMAX_BINARY_POINT_VALUE 1
#elif configUNIQUE_INTERRUPT_PRIORITIES == 128 #elif configUNIQUE_INTERRUPT_PRIORITIES == 128
#define portPRIORITY_SHIFT 1 #define portPRIORITY_SHIFT 1
#define portMAX_BINARY_POINT_VALUE 0
#elif configUNIQUE_INTERRUPT_PRIORITIES == 256 #elif configUNIQUE_INTERRUPT_PRIORITIES == 256
#define portPRIORITY_SHIFT 0 #define portPRIORITY_SHIFT 0
#define portMAX_BINARY_POINT_VALUE 0
#else #else
#error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
#endif #endif
@ -154,11 +159,19 @@ context. */
#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 ) #define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 )
#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C ) #define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C )
#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 ) #define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 )
#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 )
#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 )
#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) #define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET )
#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile unsigned long * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) ) #define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile unsigned long * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) )
#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ) #define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET )
#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET ) #define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET )
#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) #define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET )
#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile unsigned long * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) )
#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile unsigned char * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
point is zero. */
#define portBINARY_POINT_BITS ( ( unsigned char ) 0x03 )
/* Constants required to setup the initial task context. */ /* Constants required to setup the initial task context. */
#define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ #define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
@ -200,11 +213,6 @@ the scheduler starts. As it is stored as part of the task context it will
automatically be set to 0 when the first task is started. */ automatically be set to 0 when the first task is started. */
volatile unsigned long ulCriticalNesting = 9999UL; volatile unsigned long ulCriticalNesting = 9999UL;
/* The value to be written to the interrupt controllers priority mask register
to mask interrupts that can use the FreeRTOS API without masking higher priority
interrupts. */
const unsigned long ulPortAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
/* Used to pass constants into the ASM code. The address at which variables are /* Used to pass constants into the ASM code. The address at which variables are
placed is the constant value so indirect loads in the asm code are not placed is the constant value so indirect loads in the asm code are not
required. */ required. */
@ -312,6 +320,13 @@ unsigned long ulAPSR;
configASSERT( ulAPSR != portAPSR_USER_MODE ); configASSERT( ulAPSR != portAPSR_USER_MODE );
if( ulAPSR != portAPSR_USER_MODE ) if( ulAPSR != portAPSR_USER_MODE )
{
/* Only continue if the binary point value is set to its lowest possible
setting. See the comments in vPortValidateInterruptPriority() below for
more information. */
configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
{ {
/* Start the timer that generates the tick ISR. */ /* Start the timer that generates the tick ISR. */
configSETUP_TICK_INTERRUPT(); configSETUP_TICK_INTERRUPT();
@ -319,9 +334,11 @@ unsigned long ulAPSR;
__enable_irq(); __enable_irq();
vPortRestoreTaskContext(); vPortRestoreTaskContext();
} }
}
/* Will only get here if xTaskStartScheduler() was called with the CPU in /* Will only get here if xTaskStartScheduler() was called with the CPU in
a non-privileged mode. */ a non-privileged mode or the binary point register was not set to its lowest
possible value. */
return 0; return 0;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -371,7 +388,7 @@ void FreeRTOS_Tick_Handler( void )
handler runs at the lowest priority, so interrupts cannot already be masked, handler runs at the lowest priority, so interrupts cannot already be masked,
so there is no need to save and restore the current mask value. */ so there is no need to save and restore the current mask value. */
__disable_irq(); __disable_irq();
portICCPMR_PRIORITY_MASK_REGISTER = ulPortAPIPriorityMask; portICCPMR_PRIORITY_MASK_REGISTER = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
__asm( "DSB \n" __asm( "DSB \n"
"ISB \n" ); "ISB \n" );
__enable_irq(); __enable_irq();
@ -414,7 +431,7 @@ unsigned long ulPortSetInterruptMask( void )
unsigned long ulReturn; unsigned long ulReturn;
__disable_irq(); __disable_irq();
if( portICCPMR_PRIORITY_MASK_REGISTER == ulPortAPIPriorityMask ) if( portICCPMR_PRIORITY_MASK_REGISTER == ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
{ {
/* Interrupts were already masked. */ /* Interrupts were already masked. */
ulReturn = pdTRUE; ulReturn = pdTRUE;
@ -422,7 +439,7 @@ unsigned long ulReturn;
else else
{ {
ulReturn = pdFALSE; ulReturn = pdFALSE;
portICCPMR_PRIORITY_MASK_REGISTER = ulPortAPIPriorityMask; portICCPMR_PRIORITY_MASK_REGISTER = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
__asm( "DSB \n" __asm( "DSB \n"
"ISB \n" ); "ISB \n" );
} }
@ -430,5 +447,47 @@ unsigned long ulReturn;
return ulReturn; return ulReturn;
} }
/*-----------------------------------------------------------*/
#if( configASSERT_DEFINED == 1 )
void vPortValidateInterruptPriority( void )
{
/* The following assertion will fail if a service routine (ISR) for
an interrupt that has been assigned a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
function. ISR safe FreeRTOS API functions must *only* be called
from interrupts that have been assigned a priority at or below
configMAX_SYSCALL_INTERRUPT_PRIORITY.
Numerically low interrupt priority numbers represent logically high
interrupt priorities, therefore the priority of the interrupt must
be set to a value equal to or numerically *higher* than
configMAX_SYSCALL_INTERRUPT_PRIORITY.
FreeRTOS maintains separate thread and ISR API functions to ensure
interrupt entry is as fast and simple as possible.
The following links provide detailed information:
http://www.freertos.org/RTOS-Cortex-M3-M4.html
http://www.freertos.org/FAQHelp.html */
configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
/* Priority grouping: The interrupt controller (GIC) allows the bits
that define each interrupt's priority to be split between bits that
define the interrupt's pre-emption priority bits and bits that define
the interrupt's sub-priority. For simplicity all bits must be defined
to be pre-emption priority bits. The following assertion will fail if
this is not the case (if some bits represent a sub-priority).
The priority grouping is configured by the GIC's binary point register
(ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest
possible value (which may be above 0). */
configASSERT( portICCBPR_BINARY_POINT_REGISTER <= portMAX_BINARY_POINT_VALUE );
}
#endif /* configASSERT_DEFINED */

7
FreeRTOS/Source/portable/RVDS/ARM_CA9/portmacro.h
Unescape Escape View File

@ -182,6 +182,13 @@ void vPortTaskUsesFPU( void );
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
#ifdef configASSERT
void vPortValidateInterruptPriority( void );
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#else
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
#endif
#define portNOP() __nop() #define portNOP() __nop()
#ifdef __cplusplus #ifdef __cplusplus

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