Moved proj up
This commit is contained in:
Timo Niemann
@@ -0,0 +1,306 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V11.3.0
|
||||
* 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
|
||||
*
|
||||
*/
|
||||
|
||||
/* Including FreeRTOSConfig.h here will cause build errors if the header file
|
||||
contains code not understood by the assembler - for example the 'extern' keyword.
|
||||
To avoid errors place any such code inside a #ifdef __ICCARM__/#endif block so
|
||||
the code is included in C files but excluded by the preprocessor in assembly
|
||||
files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler. */
|
||||
#include <FreeRTOSConfig.h>
|
||||
#include <mpu_syscall_numbers.h>
|
||||
|
||||
RSEG CODE:CODE(2)
|
||||
thumb
|
||||
|
||||
EXTERN pxCurrentTCB
|
||||
EXTERN vTaskSwitchContext
|
||||
EXTERN vPortSVCHandler_C
|
||||
EXTERN vSystemCallEnter
|
||||
EXTERN vSystemCallExit
|
||||
|
||||
PUBLIC xPortPendSVHandler
|
||||
PUBLIC vPortSVCHandler
|
||||
PUBLIC vPortStartFirstTask
|
||||
PUBLIC vPortEnableVFP
|
||||
PUBLIC vPortRestoreContextOfFirstTask
|
||||
PUBLIC xIsPrivileged
|
||||
PUBLIC vResetPrivilege
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#ifndef configUSE_MPU_WRAPPERS_V1
|
||||
#define configUSE_MPU_WRAPPERS_V1 0
|
||||
#endif
|
||||
|
||||
/* Errata 837070 workaround must be enabled on Cortex-M7 r0p0
|
||||
* and r0p1 cores. */
|
||||
#ifndef configENABLE_ERRATA_837070_WORKAROUND
|
||||
#define configENABLE_ERRATA_837070_WORKAROUND 0
|
||||
#endif
|
||||
|
||||
/* These must be in sync with portmacro.h. */
|
||||
#define portSVC_START_SCHEDULER 100
|
||||
#define portSVC_SYSTEM_CALL_EXIT 103
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
xPortPendSVHandler:
|
||||
|
||||
ldr r3, =pxCurrentTCB
|
||||
ldr r2, [r3] /* r2 = pxCurrentTCB. */
|
||||
ldr r1, [r2] /* r1 = Location where the context should be saved. */
|
||||
|
||||
/*------------ Save Context. ----------- */
|
||||
mrs r3, control
|
||||
mrs r0, psp
|
||||
isb
|
||||
|
||||
add r0, r0, #0x20 /* Move r0 to location where s0 is saved. */
|
||||
tst lr, #0x10
|
||||
ittt eq
|
||||
vstmiaeq r1!, {s16-s31} /* Store s16-s31. */
|
||||
vldmiaeq r0, {s0-s16} /* Copy hardware saved FP context into s0-s16. */
|
||||
vstmiaeq r1!, {s0-s16} /* Store hardware saved FP context. */
|
||||
sub r0, r0, #0x20 /* Set r0 back to the location of hardware saved context. */
|
||||
|
||||
stmia r1!, {r3-r11, lr} /* Store CONTROL register, r4-r11 and LR. */
|
||||
ldmia r0, {r4-r11} /* Copy hardware saved context into r4-r11. */
|
||||
stmia r1!, {r0, r4-r11} /* Store original PSP (after hardware has saved context) and the hardware saved context. */
|
||||
str r1, [r2] /* Save the location from where the context should be restored as the first member of TCB. */
|
||||
|
||||
/*---------- Select next task. --------- */
|
||||
mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
|
||||
#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
|
||||
cpsid i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
|
||||
#endif
|
||||
msr basepri, r0
|
||||
dsb
|
||||
isb
|
||||
#if ( configENABLE_ERRATA_837070_WORKAROUND == 1 )
|
||||
cpsie i /* ARM Cortex-M7 r0p1 Errata 837070 workaround. */
|
||||
#endif
|
||||
bl vTaskSwitchContext
|
||||
mov r0, #0
|
||||
msr basepri, r0
|
||||
|
||||
/*------------ Program MPU. ------------ */
|
||||
ldr r3, =pxCurrentTCB
|
||||
ldr r2, [r3] /* r2 = pxCurrentTCB. */
|
||||
add r2, r2, #4 /* r2 = Second item in the TCB which is xMPUSettings. */
|
||||
|
||||
dmb /* Complete outstanding transfers before disabling MPU. */
|
||||
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
|
||||
ldr r3, [r0] /* Read the value of MPU_CTRL. */
|
||||
bic r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
|
||||
str r3, [r0] /* Disable MPU. */
|
||||
|
||||
ldr r0, =0xe000ed9c /* Region Base Address register. */
|
||||
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 0 - 3]. */
|
||||
stmia r0, {r4-r11} /* Write 4 sets of MPU registers [MPU Region # 0 - 3]. */
|
||||
|
||||
#ifdef configTOTAL_MPU_REGIONS
|
||||
#if ( configTOTAL_MPU_REGIONS == 16 )
|
||||
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */
|
||||
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 4 - 7]. */
|
||||
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */
|
||||
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */
|
||||
#endif /* configTOTAL_MPU_REGIONS == 16. */
|
||||
#endif
|
||||
|
||||
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
|
||||
ldr r3, [r0] /* Read the value of MPU_CTRL. */
|
||||
orr r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
|
||||
str r3, [r0] /* Enable MPU. */
|
||||
dsb /* Force memory writes before continuing. */
|
||||
|
||||
/*---------- Restore Context. ---------- */
|
||||
ldr r3, =pxCurrentTCB
|
||||
ldr r2, [r3] /* r2 = pxCurrentTCB. */
|
||||
ldr r1, [r2] /* r1 = Location of saved context in TCB. */
|
||||
|
||||
ldmdb r1!, {r0, r4-r11} /* r0 contains PSP after the hardware had saved context. r4-r11 contain hardware saved context. */
|
||||
msr psp, r0
|
||||
stmia r0!, {r4-r11} /* Copy the hardware saved context on the task stack. */
|
||||
ldmdb r1!, {r3-r11, lr} /* r3 contains CONTROL register. r4-r11 and LR restored. */
|
||||
msr control, r3
|
||||
|
||||
tst lr, #0x10
|
||||
ittt eq
|
||||
vldmdbeq r1!, {s0-s16} /* s0-s16 contain hardware saved FP context. */
|
||||
vstmiaeq r0!, {s0-s16} /* Copy hardware saved FP context on the task stack. */
|
||||
vldmdbeq r1!, {s16-s31} /* Restore s16-s31. */
|
||||
|
||||
str r1, [r2] /* Save the location where the context should be saved next as the first member of TCB. */
|
||||
bx lr
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if ( configUSE_MPU_WRAPPERS_V1 == 0 )
|
||||
|
||||
vPortSVCHandler:
|
||||
tst lr, #4
|
||||
ite eq
|
||||
mrseq r0, msp
|
||||
mrsne r0, psp
|
||||
|
||||
ldr r1, [r0, #24]
|
||||
ldrb r2, [r1, #-2]
|
||||
cmp r2, #NUM_SYSTEM_CALLS
|
||||
blt syscall_enter
|
||||
cmp r2, #portSVC_SYSTEM_CALL_EXIT
|
||||
beq syscall_exit
|
||||
b vPortSVCHandler_C
|
||||
|
||||
syscall_enter:
|
||||
mov r1, lr
|
||||
b vSystemCallEnter
|
||||
|
||||
syscall_exit:
|
||||
mov r1, lr
|
||||
b vSystemCallExit
|
||||
|
||||
#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
|
||||
|
||||
vPortSVCHandler:
|
||||
#ifndef USE_PROCESS_STACK
|
||||
tst lr, #4
|
||||
ite eq
|
||||
mrseq r0, msp
|
||||
mrsne r0, psp
|
||||
#else
|
||||
mrs r0, psp
|
||||
#endif
|
||||
b vPortSVCHandler_C
|
||||
|
||||
#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
vPortStartFirstTask:
|
||||
/* Use the NVIC offset register to locate the stack. */
|
||||
ldr r0, =0xE000ED08
|
||||
ldr r0, [r0]
|
||||
ldr r0, [r0]
|
||||
/* Set the msp back to the start of the stack. */
|
||||
msr msp, r0
|
||||
/* Clear the bit that indicates the FPU is in use in case the FPU was used
|
||||
before the scheduler was started - which would otherwise result in the
|
||||
unnecessary leaving of space in the SVC stack for lazy saving of FPU
|
||||
registers. */
|
||||
mov r0, #0
|
||||
msr control, r0
|
||||
/* Call SVC to start the first task. */
|
||||
cpsie i
|
||||
cpsie f
|
||||
dsb
|
||||
isb
|
||||
svc #portSVC_START_SCHEDULER
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
vPortRestoreContextOfFirstTask:
|
||||
ldr r0, =0xE000ED08 /* Use the NVIC offset register to locate the stack. */
|
||||
ldr r0, [r0]
|
||||
ldr r0, [r0]
|
||||
msr msp, r0 /* Set the msp back to the start of the stack. */
|
||||
|
||||
/*------------ Program MPU. ------------ */
|
||||
ldr r3, =pxCurrentTCB
|
||||
ldr r2, [r3] /* r2 = pxCurrentTCB. */
|
||||
add r2, r2, #4 /* r2 = Second item in the TCB which is xMPUSettings. */
|
||||
|
||||
dmb /* Complete outstanding transfers before disabling MPU. */
|
||||
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
|
||||
ldr r3, [r0] /* Read the value of MPU_CTRL. */
|
||||
bic r3, #1 /* r3 = r3 & ~1 i.e. Clear the bit 0 in r3. */
|
||||
str r3, [r0] /* Disable MPU. */
|
||||
|
||||
ldr r0, =0xe000ed9c /* Region Base Address register. */
|
||||
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 0 - 3]. */
|
||||
stmia r0, {r4-r11} /* Write 4 sets of MPU registers [MPU Region # 0 - 3]. */
|
||||
|
||||
#ifdef configTOTAL_MPU_REGIONS
|
||||
#if ( configTOTAL_MPU_REGIONS == 16 )
|
||||
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 4 - 7]. */
|
||||
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 4 - 7]. */
|
||||
ldmia r2!, {r4-r11} /* Read 4 sets of MPU registers [MPU Region # 8 - 11]. */
|
||||
stmia r0, {r4-r11} /* Write 4 sets of MPU registers. [MPU Region # 8 - 11]. */
|
||||
#endif /* configTOTAL_MPU_REGIONS == 16. */
|
||||
#endif
|
||||
|
||||
ldr r0, =0xe000ed94 /* MPU_CTRL register. */
|
||||
ldr r3, [r0] /* Read the value of MPU_CTRL. */
|
||||
orr r3, #1 /* r3 = r3 | 1 i.e. Set the bit 0 in r3. */
|
||||
str r3, [r0] /* Enable MPU. */
|
||||
dsb /* Force memory writes before continuing. */
|
||||
|
||||
/*---------- Restore Context. ---------- */
|
||||
ldr r3, =pxCurrentTCB
|
||||
ldr r2, [r3] /* r2 = pxCurrentTCB. */
|
||||
ldr r1, [r2] /* r1 = Location of saved context in TCB. */
|
||||
|
||||
ldmdb r1!, {r0, r4-r11} /* r0 contains PSP after the hardware had saved context. r4-r11 contain hardware saved context. */
|
||||
msr psp, r0
|
||||
stmia r0, {r4-r11} /* Copy the hardware saved context on the task stack. */
|
||||
ldmdb r1!, {r3-r11, lr} /* r3 contains CONTROL register. r4-r11 and LR restored. */
|
||||
msr control, r3
|
||||
str r1, [r2] /* Save the location where the context should be saved next as the first member of TCB. */
|
||||
|
||||
mov r0, #0
|
||||
msr basepri, r0
|
||||
bx lr
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
vPortEnableVFP:
|
||||
/* The FPU enable bits are in the CPACR. */
|
||||
ldr.w r0, =0xE000ED88
|
||||
ldr r1, [r0]
|
||||
|
||||
/* Enable CP10 and CP11 coprocessors, then save back. */
|
||||
orr r1, r1, #( 0xf << 20 )
|
||||
str r1, [r0]
|
||||
bx r14
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
xIsPrivileged:
|
||||
mrs r0, control /* r0 = CONTROL. */
|
||||
tst r0, #1 /* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
|
||||
ite ne
|
||||
movne r0, #0 /* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
|
||||
moveq r0, #1 /* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
|
||||
bx lr /* Return. */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
vResetPrivilege:
|
||||
mrs r0, control /* r0 = CONTROL. */
|
||||
orr r0, r0, #1 /* r0 = r0 | 1. */
|
||||
msr control, r0 /* CONTROL = r0. */
|
||||
bx lr /* Return to the caller. */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
END
|
||||
Reference in New Issue
Block a user