/* * FreeRTOS Kernel V11.1.0 * 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 * */ /* Standard includes. */ #include /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE ensures that PRIVILEGED_FUNCTION * is defined correctly and privileged functions are placed in correct sections. */ #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE /* Portasm includes. */ #include "portasm.h" /* System call numbers includes. */ #include "mpu_syscall_numbers.h" /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE is needed to be defined only for the * header files. */ #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE #if ( configENABLE_MPU == 1 ) void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ { __asm volatile ( " .extern pxCurrentTCB \n" " .syntax unified \n" " \n" " program_mpu_first_task: \n" " \n" " ldr r3, =pxCurrentTCB \n" /* r3 = &pxCurrentTCB. */ " ldr r0, [r3] \n" /* r0 = pxCurrentTCB.*/ " adds r0, #4 \n" /* r0 = Second item in the TCB which is xMPUSettings. */ " \n" " dmb \n" /* Complete outstanding transfers before disabling MPU. */ " 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. */ " bics r2, r3 \n" /* r2 = r2 & ~r3 i.e. Clear the bit 0 in r2. */ " 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_first_task: \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_first_task: \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_first_task: \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_first_task: \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" ::"i" ( portSVC_START_SCHEDULER ) : "memory" ); } #else /* configENABLE_MPU */ void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ { __asm volatile ( " .extern pxCurrentTCB \n" " .syntax unified \n" " \n" " ldr r2, =pxCurrentTCB \n" /* r2 = &pxCurrentTCB. */ " ldr r1, [r2] \n" /* r1 = pxCurrentTCB.*/ " ldr r0, [r1] \n" /* Read top of stack from TCB - The first item in pxCurrentTCB is the task top of stack. */ " \n" " ldm r0!, {r2} \n" /* Read from stack - r2 = EXC_RETURN. */ " movs r1, #2 \n" /* r1 = 2. */ " msr CONTROL, r1 \n" /* Switch to use PSP in the thread mode. */ " adds r0, #32 \n" /* Discard everything up to r0. */ " msr psp, r0 \n" /* This is now the new top of stack to use in the task. */ " isb \n" " bx r2 \n" /* Finally, branch to EXC_RETURN. */ " \n" " .align 4 \n" ); } #endif /* configENABLE_MPU */ /*-----------------------------------------------------------*/ BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */ { __asm volatile ( " .syntax unified \n" " \n" " mrs r0, control \n" /* r0 = CONTROL. */ " movs r1, #1 \n" /* r1 = 1. */ " tst r0, r1 \n" /* Perform r0 & r1 (bitwise AND) and update the conditions flag. */ " beq running_privileged \n" /* If the result of previous AND operation was 0, branch. */ " movs r0, #0 \n" /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */ " bx lr \n" /* Return. */ " running_privileged: \n" " movs r0, #1 \n" /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */ " bx lr \n" /* Return. */ " \n" " .align 4 \n" ::: "r0", "r1", "memory" ); } /*-----------------------------------------------------------*/ void vRaisePrivilege( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ { __asm volatile ( " .syntax unified \n" " \n" " mrs r0, control \n" /* Read the CONTROL register. */ " movs r1, #1 \n" /* r1 = 1. */ " bics r0, r1 \n" /* Clear the bit 0. */ " msr control, r0 \n" /* Write back the new CONTROL value. */ " bx lr \n" /* Return to the caller. */ ::: "r0", "r1", "memory" ); } /*-----------------------------------------------------------*/ void vResetPrivilege( void ) /* __attribute__ (( naked )) */ { __asm volatile ( " .syntax unified \n" " \n" " mrs r0, control \n" /* r0 = CONTROL. */ " movs r1, #1 \n" /* r1 = 1. */ " orrs r0, r1 \n" /* r0 = r0 | r1. */ " msr control, r0 \n" /* CONTROL = r0. */ " bx lr \n" /* Return to the caller. */ ::: "r0", "r1", "memory" ); } /*-----------------------------------------------------------*/ void vStartFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ { /* Don't reset the MSP stack as is done on CM3/4 devices. The reason is that * the Vector Table Offset Register (VTOR) is optional in CM0+ architecture * and therefore, may not be available on all the devices. */ __asm volatile ( " .syntax unified \n" " cpsie i \n" /* Globally enable interrupts. */ " dsb \n" " isb \n" " svc %0 \n" /* System call to start the first task. */ " nop \n" " \n" " .align 4 \n" ::"i" ( portSVC_START_SCHEDULER ) : "memory" ); } /*-----------------------------------------------------------*/ uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ { __asm volatile ( " .syntax unified \n" " \n" " mrs r0, PRIMASK \n" " cpsid i \n" " bx lr \n" ::: "memory" ); } /*-----------------------------------------------------------*/ void vClearInterruptMask( __attribute__( ( unused ) ) uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */ { __asm volatile ( " .syntax unified \n" " \n" " msr PRIMASK, r0 \n" " bx lr \n" ::: "memory" ); } /*-----------------------------------------------------------*/ #if ( configENABLE_MPU == 1 ) void PendSV_Handler( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */ { __asm volatile ( " .extern pxCurrentTCB \n" " .syntax unified \n" " \n" " ldr r2, =pxCurrentTCB \n" /* r2 = &( pxCurrentTCB ). */ " ldr r0, [r2] \n" /* r0 = pxCurrentTCB. */ " ldr r1, [r0] \n" /* r1 = Location in TCB where the context should be saved. */ " mrs r2, psp \n" /* r2 = PSP. */ " \n" " save_general_regs: \n" " stmia r1!, {r4-r7} \n" /* Store r4-r7. */ " 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 r1!, {r4-r7} \n" /* Store r8-r11. */ " ldmia r2!, {r4-r7} \n" /* Copy half of the hardware saved context into r4-r7. */ " stmia r1!, {r4-r7} \n" /* Store the hardware saved context. */ " ldmia r2!, {r4-r7} \n" /* Copy rest half of the hardware saved context into r4-r7. */ " stmia r1!, {r4-r7} \n" /* Store the hardware saved context. */ " \n" " save_special_regs: \n" " mrs r2, psp \n" /* r2 = PSP. */ " mrs r3, control \n" /* r3 = CONTROL. */ " mov r4, lr \n" /* r4 = LR. */ " stmia r1!, {r2-r4} \n" /* Store original PSP (after hardware has saved context), CONTROL and LR. */ " str r1, [r0] \n" /* Save the location from where the context should be restored as the first member of TCB. */ " \n" " select_next_task: \n" " cpsid i \n" " bl vTaskSwitchContext \n" " cpsie i \n" " \n" " program_mpu: \n" " \n" " ldr r2, =pxCurrentTCB \n" /* r2 = &( pxCurrentTCB ). */ " ldr r0, [r2] \n" /* r0 = pxCurrentTCB. */ " adds r0, #4 \n" /* r0 = Second item in the TCB which is xMPUSettings. */ " \n" " dmb \n" /* Complete outstanding transfers before disabling MPU. */ " 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. */ " bics r2, r3 \n" /* r2 = r2 & ~r3 i.e. Clear the bit 0 in r2. */ " 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 ) */ /*-----------------------------------------------------------*/