ARM CM0+ MPU Port (#1005)
* Add MPU Support to the ARM CM0+ GCC Port. * Co-authored by @aggargpull/1016/head^2
Soren Ptak
10 months ago
committed by
GitHub
parent
625b24a104
commit
345a86d49b
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/*
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* FreeRTOS Kernel <DEVELOPMENT BRANCH>
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/* Standard includes. */
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#include <stdint.h>
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/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION
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* is defined correctly and privileged functions are placed in correct sections. */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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/* Portasm includes. */
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#include "portasm.h"
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/* System call numbers includes. */
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#include "mpu_syscall_numbers.h"
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/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the
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* header files. */
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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#if ( configENABLE_MPU == 1 )
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void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
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{
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__asm volatile
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(
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" .extern pxCurrentTCB \n"
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" .syntax unified \n"
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" \n"
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" program_mpu_first_task: \n"
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" \n"
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" ldr r3, =pxCurrentTCB \n" /* r3 = &pxCurrentTCB. */
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" ldr r0, [r3] \n" /* r0 = pxCurrentTCB.*/
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" adds r0, #4 \n" /* r0 = Second item in the TCB which is xMPUSettings. */
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" \n"
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" dmb \n" /* Complete outstanding transfers before disabling MPU. */
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" ldr r1, =0xe000ed94 \n" /* r1 = 0xe000ed94 [Location of MPU_CTRL]. */
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" ldr r2, [r1] \n" /* Read the value of MPU_CTRL. */
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" movs r3, #1 \n" /* r3 = 1. */
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" bics r2, r3 \n" /* r2 = r2 & ~r3 i.e. Clear the bit 0 in r2. */
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" str r2, [r1] \n" /* Disable MPU. */
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" \n"
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" ldr r1, =0xe000ed9c \n" /* r1 = 0xe000ed9c [Location of RBAR]. */
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" ldr r2, =0xe000eda0 \n" /* r2 = 0xe000eda0 [Location of RASR]. */
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" \n"
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" ldmia r0!, {r3-r4} \n" /* Read first set of RBAR/RASR registers from TCB. */
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" str r3, [r1] \n" /* Program RBAR. */
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" str r4, [r2] \n" /* Program RASR. */
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" \n"
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" ldmia r0!, {r3-r4} \n" /* Read second set of RBAR/RASR registers from TCB. */
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" str r3, [r1] \n" /* Program RBAR. */
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" str r4, [r2] \n" /* Program RASR. */
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" \n"
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" ldmia r0!, {r3-r4} \n" /* Read third set of RBAR/RASR registers from TCB. */
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" str r3, [r1] \n" /* Program RBAR. */
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" str r4, [r2] \n" /* Program RASR. */
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" \n"
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" ldmia r0!, {r3-r4} \n" /* Read fourth set of RBAR/RASR registers from TCB. */
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" str r3, [r1] \n" /* Program RBAR. */
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" str r4, [r2] \n" /* Program RASR. */
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" \n"
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" ldmia r0!, {r3-r4} \n" /* Read fifth set of RBAR/RASR registers from TCB. */
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" str r3, [r1] \n" /* Program RBAR. */
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" str r4, [r2] \n" /* Program RASR. */
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" \n"
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" ldr r1, =0xe000ed94 \n" /* r1 = 0xe000ed94 [Location of MPU_CTRL]. */
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" ldr r2, [r1] \n" /* Read the value of MPU_CTRL. */
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" movs r3, #1 \n" /* r3 = 1. */
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" orrs r2, r3 \n" /* r2 = r2 | r3 i.e. Set the bit 0 in r2. */
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" str r2, [r1] \n" /* Enable MPU. */
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" dsb \n" /* Force memory writes before continuing. */
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" \n"
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" restore_context_first_task: \n"
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" ldr r2, =pxCurrentTCB \n" /* r2 = &pxCurrentTCB. */
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" ldr r0, [r2] \n" /* r0 = pxCurrentTCB.*/
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" ldr r1, [r0] \n" /* r1 = Location of saved context in TCB. */
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" \n"
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" restore_special_regs_first_task: \n"
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" subs r1, #12 \n"
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" ldmia r1!, {r2-r4} \n" /* r2 = original PSP, r3 = CONTROL, r4 = LR. */
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" subs r1, #12 \n"
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" msr psp, r2 \n"
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" msr control, r3 \n"
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" mov lr, r4 \n"
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" \n"
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" restore_general_regs_first_task: \n"
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" subs r1, #32 \n"
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" ldmia r1!, {r4-r7} \n" /* r4-r7 contain half of the hardware saved context. */
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" stmia r2!, {r4-r7} \n" /* Copy half of the the hardware saved context on the task stack. */
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" ldmia r1!, {r4-r7} \n" /* r4-r7 contain rest half of the hardware saved context. */
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" stmia r2!, {r4-r7} \n" /* Copy rest half of the the hardware saved context on the task stack. */
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" subs r1, #48 \n"
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" ldmia r1!, {r4-r7} \n" /* Restore r8-r11. */
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" mov r8, r4 \n" /* r8 = r4. */
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" mov r9, r5 \n" /* r9 = r5. */
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" mov r10, r6 \n" /* r10 = r6. */
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" mov r11, r7 \n" /* r11 = r7. */
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" subs r1, #32 \n"
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" ldmia r1!, {r4-r7} \n" /* Restore r4-r7. */
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" subs r1, #16 \n"
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" \n"
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" restore_context_done_first_task: \n"
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" str r1, [r0] \n" /* Save the location where the context should be saved next as the first member of TCB. */
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" bx lr \n"
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" \n"
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" .align 4 \n"
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::"i" ( portSVC_START_SCHEDULER ) : "memory"
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);
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}
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#else /* configENABLE_MPU */
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void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
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{
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__asm volatile
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(
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" .extern pxCurrentTCB \n"
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" .syntax unified \n"
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" \n"
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" ldr r2, =pxCurrentTCB \n" /* r2 = &pxCurrentTCB. */
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" ldr r1, [r2] \n" /* r1 = pxCurrentTCB.*/
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" ldr r0, [r1] \n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */
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" \n"
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" ldm r0!, {r2} \n" /* Read from stack - r2 = EXC_RETURN. */
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" movs r1, #2 \n" /* r1 = 2. */
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" msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */
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" adds r0, #32 \n" /* Discard everything up to r0. */
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" msr psp, r0 \n" /* This is now the new top of stack to use in the task. */
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" isb \n"
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" bx r2 \n" /* Finally, branch to EXC_RETURN. */
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" \n"
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" .align 4 \n"
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);
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}
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#endif /* configENABLE_MPU */
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/*-----------------------------------------------------------*/
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BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */
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{
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__asm volatile
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(
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" .syntax unified \n"
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" \n"
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" mrs r0, control \n" /* r0 = CONTROL. */
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" movs r1, #1 \n" /* r1 = 1. */
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" tst r0, r1 \n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */
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" beq running_privileged \n" /* If the result of previous AND operation was 0, branch. */
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" movs r0, #0 \n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
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" bx lr \n" /* Return. */
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" running_privileged: \n"
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" movs r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
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" bx lr \n" /* Return. */
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" \n"
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" .align 4 \n"
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::: "r0", "r1", "memory"
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);
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}
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/*-----------------------------------------------------------*/
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void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
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{
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__asm volatile
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(
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" .syntax unified \n"
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" \n"
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" mrs r0, control \n" /* Read the CONTROL register. */
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" movs r1, #1 \n" /* r1 = 1. */
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" bics r0, r1 \n" /* Clear the bit 0. */
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" msr control, r0 \n" /* Write back the new CONTROL value. */
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" bx lr \n" /* Return to the caller. */
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::: "r0", "r1", "memory"
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);
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}
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/*-----------------------------------------------------------*/
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void vResetPrivilege( void ) /* __attribute__ (( naked )) */
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{
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__asm volatile
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(
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" .syntax unified \n"
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" \n"
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" mrs r0, control \n" /* r0 = CONTROL. */
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" movs r1, #1 \n" /* r1 = 1. */
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" orrs r0, r1 \n" /* r0 = r0 | r1. */
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" msr control, r0 \n" /* CONTROL = r0. */
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" bx lr \n" /* Return to the caller. */
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::: "r0", "r1", "memory"
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);
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}
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/*-----------------------------------------------------------*/
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void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
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{
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/* Don't reset the MSP stack as is done on CM3/4 devices. The reason is that
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* the Vector Table Offset Register (VTOR) is optional in CM0+ architecture
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* and therefore, may not be available on all the devices. */
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__asm volatile
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(
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" .syntax unified \n"
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" cpsie i \n" /* Globally enable interrupts. */
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" dsb \n"
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" isb \n"
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" svc %0 \n" /* System call to start the first task. */
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" nop \n"
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" \n"
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" .align 4 \n"
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::"i" ( portSVC_START_SCHEDULER ) : "memory"
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);
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}
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/*-----------------------------------------------------------*/
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uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
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{
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__asm volatile
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(
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" .syntax unified \n"
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" \n"
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" mrs r0, PRIMASK \n"
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" cpsid i \n"
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" bx lr \n"
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::: "memory"
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);
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}
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/*-----------------------------------------------------------*/
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void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */
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{
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__asm volatile
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(
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" .syntax unified \n"
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" \n"
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" msr PRIMASK, r0 \n"
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" bx lr \n"
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::: "memory"
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);
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}
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/*-----------------------------------------------------------*/
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#if ( configENABLE_MPU == 1 )
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void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
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{
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__asm volatile
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(
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" .extern pxCurrentTCB \n"
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" .syntax unified \n"
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" \n"
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" ldr r2, =pxCurrentTCB \n" /* r2 = &( pxCurrentTCB ). */
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" ldr r0, [r2] \n" /* r0 = pxCurrentTCB. */
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" ldr r1, [r0] \n" /* r1 = Location in TCB where the context should be saved. */
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" mrs r2, psp \n" /* r2 = PSP. */
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" \n"
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" save_general_regs: \n"
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" stmia r1!, {r4-r7} \n" /* Store r4-r7. */
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" mov r4, r8 \n" /* r4 = r8. */
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" mov r5, r9 \n" /* r5 = r9. */
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" mov r6, r10 \n" /* r6 = r10. */
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" mov r7, r11 \n" /* r7 = r11. */
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" stmia r1!, {r4-r7} \n" /* Store r8-r11. */
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" ldmia r2!, {r4-r7} \n" /* Copy half of the hardware saved context into r4-r7. */
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" stmia r1!, {r4-r7} \n" /* Store the hardware saved context. */
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" ldmia r2!, {r4-r7} \n" /* Copy rest half of the hardware saved context into r4-r7. */
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" stmia r1!, {r4-r7} \n" /* Store the hardware saved context. */
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" \n"
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" save_special_regs: \n"
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" mrs r2, psp \n" /* r2 = PSP. */
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" mrs r3, control \n" /* r3 = CONTROL. */
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" mov r4, lr \n" /* r4 = LR. */
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" stmia r1!, {r2-r4} \n" /* Store original PSP (after hardware has saved context), CONTROL and LR. */
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" str r1, [r0] \n" /* Save the location from where the context should be restored as the first member of TCB. */
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" \n"
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" select_next_task: \n"
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" cpsid i \n"
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" bl vTaskSwitchContext \n"
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" cpsie i \n"
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" \n"
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" program_mpu: \n"
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" \n"
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" ldr r2, =pxCurrentTCB \n" /* r2 = &( pxCurrentTCB ). */
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" ldr r0, [r2] \n" /* r0 = pxCurrentTCB. */
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" adds r0, #4 \n" /* r0 = Second item in the TCB which is xMPUSettings. */
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" \n"
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" dmb \n" /* Complete outstanding transfers before disabling MPU. */
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" ldr r1, =0xe000ed94 \n" /* r1 = 0xe000ed94 [Location of MPU_CTRL]. */
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" ldr r2, [r1] \n" /* Read the value of MPU_CTRL. */
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" movs r3, #1 \n" /* r3 = 1. */
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" bics r2, r3 \n" /* r2 = r2 & ~r3 i.e. Clear the bit 0 in r2. */
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||||||
|
" str r2, [r1] \n" /* Disable MPU */
|
||||||
|
" \n"
|
||||||
|
" ldr r1, =0xe000ed9c \n" /* r1 = 0xe000ed9c [Location of RBAR]. */
|
||||||
|
" ldr r2, =0xe000eda0 \n" /* r2 = 0xe000eda0 [Location of RASR]. */
|
||||||
|
" \n"
|
||||||
|
" ldmia r0!, {r3-r4} \n" /* Read first set of RBAR/RASR registers from TCB. */
|
||||||
|
" str r3, [r1] \n" /* Program RBAR. */
|
||||||
|
" str r4, [r2] \n" /* Program RASR. */
|
||||||
|
" \n"
|
||||||
|
" ldmia r0!, {r3-r4} \n" /* Read second set of RBAR/RASR registers from TCB. */
|
||||||
|
" str r3, [r1] \n" /* Program RBAR. */
|
||||||
|
" str r4, [r2] \n" /* Program RASR. */
|
||||||
|
" \n"
|
||||||
|
" ldmia r0!, {r3-r4} \n" /* Read third set of RBAR/RASR registers from TCB. */
|
||||||
|
" str r3, [r1] \n" /* Program RBAR. */
|
||||||
|
" str r4, [r2] \n" /* Program RASR. */
|
||||||
|
" \n"
|
||||||
|
" ldmia r0!, {r3-r4} \n" /* Read fourth set of RBAR/RASR registers from TCB. */
|
||||||
|
" str r3, [r1] \n" /* Program RBAR. */
|
||||||
|
" str r4, [r2] \n" /* Program RASR. */
|
||||||
|
" \n"
|
||||||
|
" ldmia r0!, {r3-r4} \n" /* Read fifth set of RBAR/RASR registers from TCB. */
|
||||||
|
" str r3, [r1] \n" /* Program RBAR. */
|
||||||
|
" str r4, [r2] \n" /* Program RASR. */
|
||||||
|
" \n"
|
||||||
|
" ldr r1, =0xe000ed94 \n" /* r1 = 0xe000ed94 [Location of MPU_CTRL]. */
|
||||||
|
" ldr r2, [r1] \n" /* Read the value of MPU_CTRL. */
|
||||||
|
" movs r3, #1 \n" /* r3 = 1. */
|
||||||
|
" orrs r2, r3 \n" /* r2 = r2 | r3 i.e. Set the bit 0 in r2. */
|
||||||
|
" str r2, [r1] \n" /* Enable MPU. */
|
||||||
|
" dsb \n" /* Force memory writes before continuing. */
|
||||||
|
" \n"
|
||||||
|
" restore_context: \n"
|
||||||
|
" ldr r2, =pxCurrentTCB \n" /* r2 = &pxCurrentTCB. */
|
||||||
|
" ldr r0, [r2] \n" /* r0 = pxCurrentTCB.*/
|
||||||
|
" ldr r1, [r0] \n" /* r1 = Location of saved context in TCB. */
|
||||||
|
" \n"
|
||||||
|
" restore_special_regs: \n"
|
||||||
|
" subs r1, #12 \n"
|
||||||
|
" ldmia r1!, {r2-r4} \n" /* r2 = original PSP, r3 = CONTROL, r4 = LR. */
|
||||||
|
" subs r1, #12 \n"
|
||||||
|
" msr psp, r2 \n"
|
||||||
|
" msr control, r3 \n"
|
||||||
|
" mov lr, r4 \n"
|
||||||
|
" \n"
|
||||||
|
" restore_general_regs: \n"
|
||||||
|
" subs r1, #32 \n"
|
||||||
|
" ldmia r1!, {r4-r7} \n" /* r4-r7 contain half of the hardware saved context. */
|
||||||
|
" stmia r2!, {r4-r7} \n" /* Copy half of the the hardware saved context on the task stack. */
|
||||||
|
" ldmia r1!, {r4-r7} \n" /* r4-r7 contain rest half of the hardware saved context. */
|
||||||
|
" stmia r2!, {r4-r7} \n" /* Copy rest half of the the hardware saved context on the task stack. */
|
||||||
|
" subs r1, #48 \n"
|
||||||
|
" ldmia r1!, {r4-r7} \n" /* Restore r8-r11. */
|
||||||
|
" mov r8, r4 \n" /* r8 = r4. */
|
||||||
|
" mov r9, r5 \n" /* r9 = r5. */
|
||||||
|
" mov r10, r6 \n" /* r10 = r6. */
|
||||||
|
" mov r11, r7 \n" /* r11 = r7. */
|
||||||
|
" subs r1, #32 \n"
|
||||||
|
" ldmia r1!, {r4-r7} \n" /* Restore r4-r7. */
|
||||||
|
" subs r1, #16 \n"
|
||||||
|
" \n"
|
||||||
|
" restore_context_done: \n"
|
||||||
|
" str r1, [r0] \n" /* Save the location where the context should be saved next as the first member of TCB. */
|
||||||
|
" bx lr \n"
|
||||||
|
" \n"
|
||||||
|
" .align 4 \n"
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
#else /* configENABLE_MPU */
|
||||||
|
|
||||||
|
void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
|
||||||
|
{
|
||||||
|
__asm volatile
|
||||||
|
(
|
||||||
|
" .extern pxCurrentTCB \n"
|
||||||
|
" .syntax unified \n"
|
||||||
|
" \n"
|
||||||
|
" mrs r0, psp \n" /* Read PSP in r0. */
|
||||||
|
" ldr r2, =pxCurrentTCB \n" /* r2 = &( pxCurrentTCB ). */
|
||||||
|
" ldr r1, [r2] \n" /* r1 = pxCurrentTCB. */
|
||||||
|
" subs r0, r0, #36 \n" /* Make space for LR and the remaining registers on the stack. */
|
||||||
|
" str r0, [r1] \n" /* Save the new top of stack in TCB. */
|
||||||
|
" \n"
|
||||||
|
" mov r3, lr \n" /* r3 = LR/EXC_RETURN. */
|
||||||
|
" stmia r0!, {r3-r7} \n" /* Store on the stack - LR and low registers that are not automatically saved. */
|
||||||
|
" mov r4, r8 \n" /* r4 = r8. */
|
||||||
|
" mov r5, r9 \n" /* r5 = r9. */
|
||||||
|
" mov r6, r10 \n" /* r6 = r10. */
|
||||||
|
" mov r7, r11 \n" /* r7 = r11. */
|
||||||
|
" stmia r0!, {r4-r7} \n" /* Store the high registers that are not saved automatically. */
|
||||||
|
" \n"
|
||||||
|
" cpsid i \n"
|
||||||
|
" bl vTaskSwitchContext \n"
|
||||||
|
" cpsie i \n"
|
||||||
|
" \n"
|
||||||
|
" ldr r2, =pxCurrentTCB \n" /* r2 = &( pxCurrentTCB ). */
|
||||||
|
" ldr r1, [r2] \n" /* r1 = pxCurrentTCB. */
|
||||||
|
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. r0 now points to the top of stack. */
|
||||||
|
" \n"
|
||||||
|
" adds r0, r0, #20 \n" /* Move to the high registers. */
|
||||||
|
" ldmia r0!, {r4-r7} \n" /* Restore the high registers that are not automatically restored. */
|
||||||
|
" mov r8, r4 \n" /* r8 = r4. */
|
||||||
|
" mov r9, r5 \n" /* r9 = r5. */
|
||||||
|
" mov r10, r6 \n" /* r10 = r6. */
|
||||||
|
" mov r11, r7 \n" /* r11 = r7. */
|
||||||
|
" msr psp, r0 \n" /* Remember the new top of stack for the task. */
|
||||||
|
" subs r0, r0, #36 \n" /* Move to the starting of the saved context. */
|
||||||
|
" ldmia r0!, {r3-r7} \n" /* Read from stack - r3 = LR and r4-r7 restored. */
|
||||||
|
" bx r3 \n"
|
||||||
|
" \n"
|
||||||
|
" .align 4 \n"
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* configENABLE_MPU */
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
|
||||||
|
|
||||||
|
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
|
||||||
|
{
|
||||||
|
__asm volatile
|
||||||
|
(
|
||||||
|
" .syntax unified \n"
|
||||||
|
" .extern vPortSVCHandler_C \n"
|
||||||
|
" .extern vSystemCallEnter \n"
|
||||||
|
" .extern vSystemCallExit \n"
|
||||||
|
" .extern pxCurrentTCB \n"
|
||||||
|
" \n"
|
||||||
|
" movs r0, #4 \n"
|
||||||
|
" mov r1, lr \n"
|
||||||
|
" tst r0, r1 \n"
|
||||||
|
" beq stack_on_msp \n"
|
||||||
|
" \n"
|
||||||
|
" stack_on_psp: \n"
|
||||||
|
" mrs r0, psp \n"
|
||||||
|
" b route_svc \n"
|
||||||
|
" \n"
|
||||||
|
" stack_on_msp: \n"
|
||||||
|
" mrs r0, msp \n"
|
||||||
|
" b route_svc \n"
|
||||||
|
" \n"
|
||||||
|
" route_svc: \n"
|
||||||
|
" ldr r3, [r0, #24] \n"
|
||||||
|
" subs r3, #2 \n"
|
||||||
|
" ldrb r2, [r3, #0] \n"
|
||||||
|
" ldr r3, =%0 \n"
|
||||||
|
" cmp r2, r3 \n"
|
||||||
|
" blt system_call_enter \n"
|
||||||
|
" ldr r3, =%1 \n"
|
||||||
|
" cmp r2, r3 \n"
|
||||||
|
" beq system_call_exit \n"
|
||||||
|
" b vPortSVCHandler_C \n"
|
||||||
|
" \n"
|
||||||
|
" system_call_enter: \n"
|
||||||
|
" push {lr} \n"
|
||||||
|
" bl vSystemCallEnter \n"
|
||||||
|
" pop {pc} \n"
|
||||||
|
" \n"
|
||||||
|
" system_call_exit: \n"
|
||||||
|
" push {lr} \n"
|
||||||
|
" bl vSystemCallExit \n"
|
||||||
|
" pop {pc} \n"
|
||||||
|
" \n"
|
||||||
|
" .align 4 \n"
|
||||||
|
" \n"
|
||||||
|
: /* No outputs. */
|
||||||
|
: "i" ( NUM_SYSTEM_CALLS ), "i" ( portSVC_SYSTEM_CALL_EXIT )
|
||||||
|
: "r0", "r1", "r2", "r3", "memory"
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
#else /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
|
||||||
|
|
||||||
|
void SVC_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
|
||||||
|
{
|
||||||
|
__asm volatile
|
||||||
|
(
|
||||||
|
" .syntax unified \n"
|
||||||
|
" .extern vPortSVCHandler_C \n"
|
||||||
|
" \n"
|
||||||
|
" movs r0, #4 \n"
|
||||||
|
" mov r1, lr \n"
|
||||||
|
" tst r0, r1 \n"
|
||||||
|
" beq stacking_used_msp \n"
|
||||||
|
" \n"
|
||||||
|
" stacking_used_psp: \n"
|
||||||
|
" mrs r0, psp \n"
|
||||||
|
" b vPortSVCHandler_C \n"
|
||||||
|
" \n"
|
||||||
|
" stacking_used_msp: \n"
|
||||||
|
" mrs r0, msp \n"
|
||||||
|
" b vPortSVCHandler_C \n"
|
||||||
|
" \n"
|
||||||
|
" .align 4 \n"
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
@ -0,0 +1,99 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
||||||
|
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: MIT
|
||||||
|
*
|
||||||
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||||
|
* this software and associated documentation files (the "Software"), to deal in
|
||||||
|
* the Software without restriction, including without limitation the rights to
|
||||||
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||||
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||||
|
* subject to the following conditions:
|
||||||
|
*
|
||||||
|
* The above copyright notice and this permission notice shall be included in all
|
||||||
|
* copies or substantial portions of the Software.
|
||||||
|
*
|
||||||
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||||
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||||
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||||
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||||
|
*
|
||||||
|
* https://www.FreeRTOS.org
|
||||||
|
* https://github.com/FreeRTOS
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __PORT_ASM_H__
|
||||||
|
#define __PORT_ASM_H__
|
||||||
|
|
||||||
|
/* Scheduler includes. */
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
|
||||||
|
/* MPU wrappers includes. */
|
||||||
|
#include "mpu_wrappers.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Restore the context of the first task so that the first task starts
|
||||||
|
* executing.
|
||||||
|
*/
|
||||||
|
void vRestoreContextOfFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Checks whether or not the processor is privileged.
|
||||||
|
*
|
||||||
|
* @return 1 if the processor is already privileged, 0 otherwise.
|
||||||
|
*/
|
||||||
|
BaseType_t xIsPrivileged( void ) __attribute__( ( naked ) );
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Raises the privilege level by clearing the bit 0 of the CONTROL
|
||||||
|
* register.
|
||||||
|
*
|
||||||
|
* @note This is a privileged function and should only be called from the kenrel
|
||||||
|
* code.
|
||||||
|
*
|
||||||
|
* Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
|
||||||
|
* Bit[0] = 0 --> The processor is running privileged
|
||||||
|
* Bit[0] = 1 --> The processor is running unprivileged.
|
||||||
|
*/
|
||||||
|
void vRaisePrivilege( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Lowers the privilege level by setting the bit 0 of the CONTROL
|
||||||
|
* register.
|
||||||
|
*
|
||||||
|
* Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
|
||||||
|
* Bit[0] = 0 --> The processor is running privileged
|
||||||
|
* Bit[0] = 1 --> The processor is running unprivileged.
|
||||||
|
*/
|
||||||
|
void vResetPrivilege( void ) __attribute__( ( naked ) );
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Starts the first task.
|
||||||
|
*/
|
||||||
|
void vStartFirstTask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Disables interrupts.
|
||||||
|
*/
|
||||||
|
uint32_t ulSetInterruptMask( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Enables interrupts.
|
||||||
|
*/
|
||||||
|
void vClearInterruptMask( uint32_t ulMask ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief PendSV Exception handler.
|
||||||
|
*/
|
||||||
|
void PendSV_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief SVC Handler.
|
||||||
|
*/
|
||||||
|
void SVC_Handler( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;
|
||||||
|
|
||||||
|
#endif /* __PORT_ASM_H__ */
|
||||||
Loading…
Reference in New Issue