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Update Cortex-M55 and Cortex-M85 ports (#579)

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These were missed when PR #59 was merged.

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
This commit is contained in:
Gaurav-Aggarwal-AWS 2022-10-28 10:41:56 +05:30 committed by GitHub
parent d7b712668d
commit 44e02bff31
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8 changed files with 2112 additions and 1648 deletions
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470
portable/GCC/ARM_CM55/non_secure/port.c
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@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/GCC/ARM_CM55_NTZ/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/GCC/ARM_CM85/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/GCC/ARM_CM85_NTZ/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/IAR/ARM_CM55/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/IAR/ARM_CM55_NTZ/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/IAR/ARM_CM85/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled

470
portable/IAR/ARM_CM85_NTZ/non_secure/port.c
View File

@ -78,20 +78,13 @@
#define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) ) #define portNVIC_SHPR3_REG ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY ( 255UL ) #define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL ) #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL ) #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#else
/* The way the SysTick is clocked is not modified in case it is not the
* same a the core. */
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
#endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -199,7 +192,7 @@
* have occurred while the SysTick counter is stopped during tickless idle * have occurred while the SysTick counter is stopped during tickless idle
* calculations. * calculations.
*/ */
#define portMISSED_COUNTS_FACTOR ( 45UL ) #define portMISSED_COUNTS_FACTOR ( 94UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/** /**
@ -258,6 +251,20 @@
#define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 ) #define portINITIAL_CONTROL_UNPRIVILEGED ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED ( 0x2 ) #define portINITIAL_CONTROL_PRIVILEGED ( 0x2 )
/**
* @brief Let the user override the default SysTick clock rate. If defined by the
* user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
* configuration register.
*/
#ifndef configSYSTICK_CLOCK_HZ
#define configSYSTICK_CLOCK_HZ ( configCPU_CLOCK_HZ )
/* Ensure the SysTick is clocked at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( portNVIC_SYSTICK_CLK_BIT )
#else
/* Select the option to clock SysTick not at the same frequency as the core. */
#define portNVIC_SYSTICK_CLK_BIT_CONFIG ( 0 )
#endif
/** /**
* @brief Let the user override the pre-loading of the initial LR with the * @brief Let the user override the pre-loading of the initial LR with the
* address of prvTaskExitError() in case it messes up unwinding of the stack * address of prvTaskExitError() in case it messes up unwinding of the stack
@ -386,7 +393,7 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
__attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
{ {
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements; uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
TickType_t xModifiableIdleTime; TickType_t xModifiableIdleTime;
/* Make sure the SysTick reload value does not overflow the counter. */ /* Make sure the SysTick reload value does not overflow the counter. */
@ -395,22 +402,6 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
xExpectedIdleTime = xMaximumPossibleSuppressedTicks; xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
} }
/* Stop the SysTick momentarily. The time the SysTick is stopped for is
* accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code will execute part way
* through one of the tick periods. */
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Enter a critical section but don't use the taskENTER_CRITICAL() /* Enter a critical section but don't use the taskENTER_CRITICAL()
* method as that will mask interrupts that should exit sleep mode. */ * method as that will mask interrupts that should exit sleep mode. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
@ -418,26 +409,52 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* If a context switch is pending or a task is waiting for the scheduler /* If a context switch is pending or a task is waiting for the scheduler
* to be un-suspended then abandon the low power entry. */ * to be unsuspended then abandon the low power entry. */
if( eTaskConfirmSleepModeStatus() == eAbortSleep ) if( eTaskConfirmSleepModeStatus() == eAbortSleep )
{ {
/* Restart from whatever is left in the count register to complete /* Re-enable interrupts - see comments above the cpsid instruction
* this tick period. */
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
/* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Reset the reload register to the value required for normal tick
* periods. */
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Re-enable interrupts - see comments above the cpsid instruction()
* above. */ * above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
} }
else else
{ {
/* Stop the SysTick momentarily. The time the SysTick is stopped for
* is accounted for as best it can be, but using the tickless mode will
* inevitably result in some tiny drift of the time maintained by the
* kernel with respect to calendar time. */
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Use the SysTick current-value register to determine the number of
* SysTick decrements remaining until the next tick interrupt. If the
* current-value register is zero, then there are actually
* ulTimerCountsForOneTick decrements remaining, not zero, because the
* SysTick requests the interrupt when decrementing from 1 to 0. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
}
/* Calculate the reload value required to wait xExpectedIdleTime
* tick periods. -1 is used because this code normally executes part
* way through the first tick period. But if the SysTick IRQ is now
* pending, then clear the IRQ, suppressing the first tick, and correct
* the reload value to reflect that the second tick period is already
* underway. The expected idle time is always at least two ticks. */
ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
{
portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
ulReloadValue -= ulTimerCountsForOneTick;
}
if( ulReloadValue > ulStoppedTimerCompensation )
{
ulReloadValue -= ulStoppedTimerCompensation;
}
/* Set the new reload value. */ /* Set the new reload value. */
portNVIC_SYSTICK_LOAD_REG = ulReloadValue; portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
@ -448,12 +465,11 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
/* Restart SysTick. */ /* Restart SysTick. */
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
* set its parameter to 0 to indicate that its implementation * set its parameter to 0 to indicate that its implementation contains
* contains its own wait for interrupt or wait for event * its own wait for interrupt or wait for event instruction, and so wfi
* instruction, and so wfi should not be executed again. However, * should not be executed again. However, the original expected idle
* the original expected idle time variable must remain unmodified, * time variable must remain unmodified, so a copy is taken. */
* so a copy is taken. */
xModifiableIdleTime = xExpectedIdleTime; xModifiableIdleTime = xExpectedIdleTime;
configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
@ -467,48 +483,44 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
/* Re-enable interrupts to allow the interrupt that brought the MCU /* Re-enable interrupts to allow the interrupt that brought the MCU
* out of sleep mode to execute immediately. See comments above * out of sleep mode to execute immediately. See comments above
* the cpsid instruction above. */ * the cpsid instruction above. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable interrupts again because the clock is about to be stopped /* Disable interrupts again because the clock is about to be stopped
* and interrupts that execute while the clock is stopped will * and interrupts that execute while the clock is stopped will increase
* increase any slippage between the time maintained by the RTOS and * any slippage between the time maintained by the RTOS and calendar
* calendar time. */ * time. */
__asm volatile ( "cpsid i" ::: "memory" ); __asm volatile ( "cpsid i" ::: "memory" );
__asm volatile ( "dsb" ); __asm volatile ( "dsb" );
__asm volatile ( "isb" ); __asm volatile ( "isb" );
/* Disable the SysTick clock without reading the /* Disable the SysTick clock without reading the
* portNVIC_SYSTICK_CTRL_REG register to ensure the * portNVIC_SYSTICK_CTRL_REG register to ensure the
* portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
* Again, the time the SysTick is stopped for is accounted for as * the time the SysTick is stopped for is accounted for as best it can
* best it can be, but using the tickless mode will inevitably * be, but using the tickless mode will inevitably result in some tiny
* result in some tiny drift of the time maintained by the kernel * drift of the time maintained by the kernel with respect to calendar
* with respect to calendar time*/ * time*/
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT ); portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
/* Determine if the SysTick clock has already counted to zero and /* Determine whether the SysTick has already counted to zero. */
* been set back to the current reload value (the reload back being
* correct for the entire expected idle time) or if the SysTick is
* yet to count to zero (in which case an interrupt other than the
* SysTick must have brought the system out of sleep mode). */
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{ {
uint32_t ulCalculatedLoadValue; uint32_t ulCalculatedLoadValue;
/* The tick interrupt is already pending, and the SysTick count /* The tick interrupt ended the sleep (or is now pending), and
* reloaded with ulReloadValue. Reset the * a new tick period has started. Reset portNVIC_SYSTICK_LOAD_REG
* portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick * with whatever remains of the new tick period. */
* period. */
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
/* Don't allow a tiny value, or values that have somehow /* Don't allow a tiny value, or values that have somehow
* underflowed because the post sleep hook did something * underflowed because the post sleep hook did something
* that took too long. */ * that took too long or because the SysTick current-value register
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) * is zero. */
if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
{ {
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
} }
@ -516,17 +528,36 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
/* As the pending tick will be processed as soon as this /* As the pending tick will be processed as soon as this
* function exits, the tick value maintained by the tick is * function exits, the tick value maintained by the tick is stepped
* stepped forward by one less than the time spent waiting. */ * forward by one less than the time spent waiting. */
ulCompleteTickPeriods = xExpectedIdleTime - 1UL; ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
} }
else else
{ {
/* Something other than the tick interrupt ended the sleep. /* Something other than the tick interrupt ended the sleep. */
* Work out how long the sleep lasted rounded to complete tick
/* Use the SysTick current-value register to determine the
* number of SysTick decrements remaining until the expected idle
* time would have ended. */
ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
{
/* If the SysTick is not using the core clock, the current-
* value register might still be zero here. In that case, the
* SysTick didn't load from the reload register, and there are
* ulReloadValue decrements remaining in the expected idle
* time, not zero. */
if( ulSysTickDecrementsLeft == 0 )
{
ulSysTickDecrementsLeft = ulReloadValue;
}
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Work out how long the sleep lasted rounded to complete tick
* periods (not the ulReload value which accounted for part * periods (not the ulReload value which accounted for part
* ticks). */ * ticks). */
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
/* How many complete tick periods passed while the processor /* How many complete tick periods passed while the processor
* was waiting? */ * was waiting? */
@ -537,13 +568,39 @@ PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
} }
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
* again, then set portNVIC_SYSTICK_LOAD_REG back to its standard * then set portNVIC_SYSTICK_LOAD_REG back to its standard value. If
* value. */ * the SysTick is not using the core clock, temporarily configure it to
* use the core clock. This configuration forces the SysTick to load
* from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
* cycle of the other clock. Then portNVIC_SYSTICK_LOAD_REG is ready
* to receive the standard value immediately. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
#if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
{
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
}
#else
{
/* The temporary usage of the core clock has served its purpose,
* as described above. Resume usage of the other clock. */
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
{
/* The partial tick period already ended. Be sure the SysTick
* counts it only once. */
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
}
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
#endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
/* Step the tick to account for any tick periods that elapsed. */
vTaskStepTick( ulCompleteTickPeriods ); vTaskStepTick( ulCompleteTickPeriods );
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
/* Exit with interrupts enabled. */ /* Exit with interrupts enabled. */
__asm volatile ( "cpsie i" ::: "memory" ); __asm volatile ( "cpsie i" ::: "memory" );
@ -556,11 +613,11 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
{ {
/* Calculate the constants required to configure the tick interrupt. */ /* Calculate the constants required to configure the tick interrupt. */
#if ( configUSE_TICKLESS_IDLE == 1 ) #if ( configUSE_TICKLESS_IDLE == 1 )
{ {
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
} }
#endif /* configUSE_TICKLESS_IDLE */ #endif /* configUSE_TICKLESS_IDLE */
/* Stop and reset the SysTick. */ /* Stop and reset the SysTick. */
@ -569,7 +626,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FU
/* Configure SysTick to interrupt at the requested rate. */ /* Configure SysTick to interrupt at the requested rate. */
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -694,10 +751,10 @@ static void prvTaskExitError( void )
static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */ static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
{ {
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* Enable non-secure access to the FPU. */ /* Enable non-secure access to the FPU. */
SecureInit_EnableNSFPUAccess(); SecureInit_EnableNSFPUAccess();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
/* CP10 = 11 ==> Full access to FPU i.e. both privileged and /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
@ -810,22 +867,22 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Read the CONTROL register value. */ /* Read the CONTROL register value. */
__asm volatile ( "mrs %0, control" : "=r" ( ulControl ) ); __asm volatile ( "mrs %0, control" : "=r" ( ulControl ) );
/* The task that raised the SVC is privileged if Bit[0] /* The task that raised the SVC is privileged if Bit[0]
* in the CONTROL register is 0. */ * in the CONTROL register is 0. */
ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 ); ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
} }
#else /* if ( configENABLE_MPU == 1 ) */ #else /* if ( configENABLE_MPU == 1 ) */
{ {
/* Allocate and load a context for the secure task. */ /* Allocate and load a context for the secure task. */
xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB ); xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID ); configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
@ -833,6 +890,7 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
break; break;
case portSVC_FREE_SECURE_CONTEXT: case portSVC_FREE_SECURE_CONTEXT:
/* R0 contains TCB being freed and R1 contains the secure /* R0 contains TCB being freed and R1 contains the secure
* context handle to be freed. */ * context handle to be freed. */
ulR0 = pulCallerStackAddress[ 0 ]; ulR0 = pulCallerStackAddress[ 0 ];
@ -845,21 +903,21 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
case portSVC_START_SCHEDULER: case portSVC_START_SCHEDULER:
#if ( configENABLE_TRUSTZONE == 1 ) #if ( configENABLE_TRUSTZONE == 1 )
{ {
/* De-prioritize the non-secure exceptions so that the /* De-prioritize the non-secure exceptions so that the
* non-secure pendSV runs at the lowest priority. */ * non-secure pendSV runs at the lowest priority. */
SecureInit_DePrioritizeNSExceptions(); SecureInit_DePrioritizeNSExceptions();
/* Initialize the secure context management system. */ /* Initialize the secure context management system. */
SecureContext_Init(); SecureContext_Init();
} }
#endif /* configENABLE_TRUSTZONE */ #endif /* configENABLE_TRUSTZONE */
#if ( configENABLE_FPU == 1 ) #if ( configENABLE_FPU == 1 )
{ {
/* Setup the Floating Point Unit (FPU). */ /* Setup the Floating Point Unit (FPU). */
prvSetupFPU(); prvSetupFPU();
} }
#endif /* configENABLE_FPU */ #endif /* configENABLE_FPU */
/* Setup the context of the first task so that the first task starts /* Setup the context of the first task so that the first task starts
@ -904,105 +962,105 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
/* Simulate the stack frame as it would be created by a context switch /* Simulate the stack frame as it would be created by a context switch
* interrupt. */ * interrupt. */
#if ( portPRELOAD_REGISTERS == 0 ) #if ( portPRELOAD_REGISTERS == 0 )
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack -= 9; /* R11..R4, EXC_RETURN. */
*pxTopOfStack = portINITIAL_EXC_RETURN;
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#else /* portPRELOAD_REGISTERS */ #else /* portPRELOAD_REGISTERS */
{
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 )
{ {
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212UL; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303UL; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202UL; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101UL; /* R1 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111UL; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010UL; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909UL; /* R09 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808UL; /* R08 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707UL; /* R07 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606UL; /* R06 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505UL; /* R05 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404UL; /* R04 */
pxTopOfStack--;
*pxTopOfStack = portINITIAL_EXC_RETURN; /* EXC_RETURN */
#if ( configENABLE_MPU == 1 ) if( xRunPrivileged == pdTRUE )
{ {
pxTopOfStack--; *pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
if( xRunPrivileged == pdTRUE ) else
{ {
*pxTopOfStack = portINITIAL_CONTROL_PRIVILEGED; /* Slot used to hold this task's CONTROL value. */ *pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
} }
else
{
*pxTopOfStack = portINITIAL_CONTROL_UNPRIVILEGED; /* Slot used to hold this task's CONTROL value. */
}
}
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
} }
#endif /* configENABLE_MPU */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */
#if ( configENABLE_TRUSTZONE == 1 )
{
pxTopOfStack--;
*pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
}
#endif /* configENABLE_TRUSTZONE */
}
#endif /* portPRELOAD_REGISTERS */ #endif /* portPRELOAD_REGISTERS */
return pxTopOfStack; return pxTopOfStack;
@ -1016,10 +1074,10 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI; portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
#if ( configENABLE_MPU == 1 ) #if ( configENABLE_MPU == 1 )
{ {
/* Setup the Memory Protection Unit (MPU). */ /* Setup the Memory Protection Unit (MPU). */
prvSetupMPU(); prvSetupMPU();
} }
#endif /* configENABLE_MPU */ #endif /* configENABLE_MPU */
/* Start the timer that generates the tick ISR. Interrupts are disabled /* Start the timer that generates the tick ISR. Interrupts are disabled